{
  "metadata": {
    "started_wall_time": 1784710221.7431562,
    "duration_sec": 30.028681793999567,
    "output_path": "/home/sunrise/yiliao_ws/test_results/reach_fail_debug_20260722_165021.json"
  },
  "topics": {
    "odom": "/odom",
    "goal_pose": "/goal_pose",
    "plan": "/plan",
    "cmd_vel": "/cmd_vel",
    "ackermann_cmd": "/ackermann_cmd",
    "planner_status": "/hybrid_astar_status",
    "tracker_status": "/pure_pursuit_status"
  },
  "topic_endpoints": {
    "/odom": {
      "publisher_count": 3,
      "subscriber_count": 8,
      "publishers": [
        {
           
          "node_name": "origincar_base",
          "node_namespace": "/",
          "topic_type": "nav_msgs/msg/Odometry"
        },
        {
          "node_name": "origincar_base",
          "node_namespace": "/",
          "topic_type": "nav_msgs/msg/Odometry"
        },
        {
          "node_name": "origincar_base",
          "node_namespace": "/",
          "topic_type": "nav_msgs/msg/Odometry"
        }
      ],
      "subscribers": [
        {
          "node_name": "ekf_filter_node",
          "node_namespace": "/",
          "topic_type": "nav_msgs/msg/Odometry"
        },
        {
          "node_name": "ekf_filter_node",
          "node_namespace": "/",
          "topic_type": "nav_msgs/msg/Odometry"
        },
        {
          "node_name": "ekf_filter_node",
          "node_namespace": "/",
          "topic_type": "nav_msgs/msg/Odometry"
        },
        {
          "node_name": "ekf_filter_node",
          "node_namespace": "/",
          "topic_type": "nav_msgs/msg/Odometry"
        },
        {
          "node_name": "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": 2,
      "subscriber_count": 2,
      "publishers": [
        {
          "node_name": "grid_astar_theta_planner",
          "node_namespace": "/",
          "topic_type": "nav_msgs/msg/Path"
        },
        {
          "node_name": "topology_pure_pursuit",
          "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"
        }
      ]
    },
    "/cmd_vel": {
      "publisher_count": 1,
      "subscriber_count": 4,
      "publishers": [
        {
          "node_name": "topology_pure_pursuit",
          "node_namespace": "/",
          "topic_type": "geometry_msgs/msg/Twist"
        }
      ],
      "subscribers": [
        {
          "node_name": "origincar_base",
          "node_namespace": "/",
          "topic_type": "geometry_msgs/msg/Twist"
        },
        {
          "node_name": "origincar_base",
          "node_namespace": "/",
          "topic_type": "geometry_msgs/msg/Twist"
        },
        {
          "node_name": "planner_ackermann_cmd_bridge",
          "node_namespace": "/",
          "topic_type": "geometry_msgs/msg/Twist"
        },
        {
          "node_name": "goal_reach_debug_collector",
          "node_namespace": "/",
          "topic_type": "geometry_msgs/msg/Twist"
        }
      ]
    },
    "/ackermann_cmd": {
      "publisher_count": 1,
      "subscriber_count": 2,
      "publishers": [
        {
          "node_name": "planner_ackermann_cmd_bridge",
          "node_namespace": "/",
          "topic_type": "ackermann_msgs/msg/AckermannDriveStamped"
        }
      ],
      "subscribers": [
        {
          "node_name": "origincar_base",
          "node_namespace": "/",
          "topic_type": "ackermann_msgs/msg/AckermannDriveStamped"
        },
        {
          "node_name": "goal_reach_debug_collector",
          "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": {
        "goal_xy_tolerance": 0.15,
        "goal_yaw_tolerance": 0.174533,
        "require_goal_yaw": true,
        "resolution": 0.1,
        "yaw_bins": 36,
        "primitive_length": 0.12,
        "min_turning_radius": 0.25,
        "heuristic_weight": 1.35,
        "goal_yaw_heuristic_weight": 1.0,
        "planning_timeout_ms": 1500.0,
        "max_iterations": 200000
      }
    },
    "tracker": {
      "node": "/topology_pure_pursuit",
      "service": "/topology_pure_pursuit/get_parameters",
      "error": "parameter_service_unavailable"
    }
  },
  "latest": {
    "goal": {
      "elapsed_sec": 6.213075014999049,
      "frame_id": "map",
      "x": 1.5,
      "y": 1.5,
      "yaw": 0.0
    },
    "plan": {
      "frame_id": "map",
      "points": 137,
      "length": 4.07913615550667,
      "start": {
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503
      },
      "end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "reverse_segment_fraction": 0.08823529411764706
    },
    "pose_map": {
      "available": true,
      "frame_id": "map",
      "source_frame": "odom",
      "x": 4.449877451349408,
      "y": 2.8683310933696613,
      "yaw": -1.001623161623272,
      "odom_age_sec": 0.045963574,
      "odom_linear_x": 0.0,
      "odom_angular_z": 0.0
    },
    "cmd_vel": {
      "linear_x": 0.4077699507812821,
      "angular_z": -0.3008691410437746
    },
    "ackermann_cmd": {
      "speed": 0.40776994824409485,
      "steering_angle": -0.10512223094701767
    },
    "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
    "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)",
    "last_plan_ok": {
      "points": 137,
      "iterations": 1112,
      "planning_ms": 121.587,
      "goal_error": 0.109,
      "yaw_error": 0.074
    },
    "plan_points": [
      {
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503
      },
      {
        "x": 4.332823491214517,
        "y": 3.0462453905868823,
        "yaw": -1.1539183514211502
      },
      {
        "x": 4.343297722883313,
        "y": 3.0181524913200724,
        "yaw": -1.2739183514211503
      },
      {
        "x": 4.3503335675576515,
        "y": 2.989007724929084,
        "yaw": -1.3939183514211502
      },
      {
        "x": 4.353829830595276,
        "y": 2.9592302726700597,
        "yaw": -1.5139183514211503
      },
      {
        "x": 4.353736226194878,
        "y": 2.9292484155480776,
        "yaw": -1.6339183514211502
      },
      {
        "x": 4.350054100643116,
        "y": 2.899493374467821,
        "yaw": -1.7539183514211503
      },
      {
        "x": 4.342836412951338,
        "y": 2.8703931081004717,
        "yaw": -1.8739183514211502
      },
      {
        "x": 4.332186973160515,
        "y": 2.842366157670424,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.319868698739728,
        "y": 2.8150118140428724,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.30755042431894,
        "y": 2.7876574704153207,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.295232149898153,
        "y": 2.760303126787769,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.282913875477366,
        "y": 2.732948783160217,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.270595601056579,
        "y": 2.7055944395326654,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.258277326635791,
        "y": 2.678240095905114,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.245959052215004,
        "y": 2.650885752277562,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.233640777794217,
        "y": 2.62353140865001,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.22132250337343,
        "y": 2.5961770650224585,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.209004228952642,
        "y": 2.568822721394907,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.196685954531855,
        "y": 2.5414683777673552,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.184367680111068,
        "y": 2.514114034139803,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.172049405690281,
        "y": 2.4867596905122515,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.159731131269493,
        "y": 2.4594053468847,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.147412856848706,
        "y": 2.4320510032571483,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.135094582427919,
        "y": 2.4046966596295962,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.122776308007132,
        "y": 2.3773423160020446,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.110458033586344,
        "y": 2.349987972374493,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.098139759165557,
        "y": 2.3226336287469413,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.08582148474477,
        "y": 2.2952792851193893,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.073503210323983,
        "y": 2.2679249414918377,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.061184935903195,
        "y": 2.240570597864286,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.048866661482408,
        "y": 2.2132162542367344,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.036548387061621,
        "y": 2.1858619106091823,
        "yaw": -1.9939183514211505
      },
      {
        "x": 4.022620363170727,
        "y": 2.159311380129333,
        "yaw": -2.1139183514211504
      },
      {
        "x": 4.005614078163034,
        "y": 2.134619138665589,
        "yaw": -2.23391835142115
      },
      {
        "x": 3.9857741288150685,
        "y": 2.112140328017851,
        "yaw": -2.35391835142115
      },
      {
        "x": 3.9633858677276343,
        "y": 2.0921982548119975,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.939827954611185,
        "y": 2.0736234135045244,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.9162700414947356,
        "y": 2.055048572197051,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.8927121283782857,
        "y": 2.0364737308895773,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.8691542152618363,
        "y": 2.017898889582104,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.845596302145387,
        "y": 1.9993240482746308,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.8220383890289376,
        "y": 1.9807492069671575,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.7984804759124877,
        "y": 1.9621743656596842,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.7749225627960383,
        "y": 1.9435995243522108,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.751364649679589,
        "y": 1.9250246830447375,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.7278067365631395,
        "y": 1.9064498417372642,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.7042488234466897,
        "y": 1.8878750004297908,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.6806909103302403,
        "y": 1.8693001591223175,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.657132997213791,
        "y": 1.8507253178148442,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.6335750840973415,
        "y": 1.8321504765073708,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.6100171709808917,
        "y": 1.8135756351998975,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.5864592578644423,
        "y": 1.7950007938924242,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.562901344747993,
        "y": 1.7764259525849508,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.5393434316315435,
        "y": 1.7578511112774775,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.5157855185150937,
        "y": 1.7392762699700042,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.4922276053986443,
        "y": 1.7207014286625308,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.468669692282195,
        "y": 1.7021265873550575,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.4451117791657455,
        "y": 1.6835517460475842,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.4215538660492957,
        "y": 1.6649769047401108,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.3979959529328463,
        "y": 1.6464020634326375,
        "yaw": -2.4739183514211502
      },
      {
        "x": 3.373381384382101,
        "y": 1.6292835490891737,
        "yaw": -2.5939183514211503
      },
      {
        "x": 3.3468945330195408,
        "y": 1.6152348045486686,
        "yaw": -2.7139183514211505
      },
      {
        "x": 3.3189163520316316,
        "y": 1.604457889086696,
        "yaw": -2.83391835142115
      },
      {
        "x": 3.289849243993634,
        "y": 1.5971078041501738,
        "yaw": -2.9539183514211502
      },
      {
        "x": 3.2601112732227002,
        "y": 1.5932902640136695,
        "yaw": -3.0739183514211503
      },
      {
        "x": 3.230130152872393,
        "y": 1.5930601753197111,
        "yaw": 3.0892669557584367
      },
      {
        "x": 3.2003370932506074,
        "y": 1.596420847371467,
        "yaw": 2.9692669557584366
      },
      {
        "x": 3.1711605998388794,
        "y": 1.6033239445359373,
        "yaw": 2.8492669557584365
      },
      {
        "x": 3.142433312454826,
        "y": 1.61196934559974,
        "yaw": 2.8492669557584365
      },
      {
        "x": 3.1137060250707727,
        "y": 1.6206147466635428,
        "yaw": 2.8492669557584365
      },
      {
        "x": 3.084978737686719,
        "y": 1.6292601477273454,
        "yaw": 2.8492669557584365
      },
      {
        "x": 3.0562514503026654,
        "y": 1.637905548791148,
        "yaw": 2.8492669557584365
      },
      {
        "x": 3.027524162918612,
        "y": 1.6465509498549507,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.9987968755345586,
        "y": 1.6551963509187535,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.970069588150505,
        "y": 1.6638417519825561,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.9413423007664514,
        "y": 1.6724871530463588,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.912615013382398,
        "y": 1.6811325541101614,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.8838877259983446,
        "y": 1.6897779551739642,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.855160438614291,
        "y": 1.6984233562377669,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.8264331512302374,
        "y": 1.7070687573015695,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.797705863846184,
        "y": 1.715714158365372,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.7689785764621306,
        "y": 1.724359559429175,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.740251289078077,
        "y": 1.7330049604929776,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.7115240016940234,
        "y": 1.7416503615567802,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.68279671430997,
        "y": 1.7502957626205828,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.6540694269259166,
        "y": 1.7589411636843857,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.625342139541863,
        "y": 1.7675865647481883,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.5966148521578094,
        "y": 1.776231965811991,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.567887564773756,
        "y": 1.7848773668757936,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.5391602773897026,
        "y": 1.7935227679395964,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.510432990005649,
        "y": 1.802168169003399,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.4817057026215954,
        "y": 1.8108135700672017,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.452978415237542,
        "y": 1.8194589711310043,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.4242511278534886,
        "y": 1.8281043721948071,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.395523840469435,
        "y": 1.8367497732586098,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.3667965530853814,
        "y": 1.8453951743224124,
        "yaw": 2.8492669557584365
      },
      {
        "x": 2.3376200596736534,
        "y": 1.8522982714868828,
        "yaw": 2.9692669557584366
      },
      {
        "x": 2.307827000051868,
        "y": 1.8556589435386386,
        "yaw": 3.0892669557584362
      },
      {
        "x": 2.2778458797015606,
        "y": 1.8554288548446802,
        "yaw": -3.0739183514211503
      },
      {
        "x": 2.248107908930627,
        "y": 1.8516113147081759,
        "yaw": -2.9539183514211502
      },
      {
        "x": 2.2190408008926292,
        "y": 1.8442612297716539,
        "yaw": -2.83391835142115
      },
      {
        "x": 2.1910626199047196,
        "y": 1.8334843143096813,
        "yaw": -2.7139183514211505
      },
      {
        "x": 2.16457576854216,
        "y": 1.8194355697691762,
        "yaw": -2.5939183514211503
      },
      {
        "x": 2.1399611999914145,
        "y": 1.8023170554257124,
        "yaw": -2.4739183514211502
      },
      {
        "x": 2.116403286874965,
        "y": 1.783742214118239,
        "yaw": -2.4739183514211502
      },
      {
        "x": 2.0928453737585158,
        "y": 1.7651673728107657,
        "yaw": -2.4739183514211502
      },
      {
        "x": 2.069287460642066,
        "y": 1.7465925315032924,
        "yaw": -2.4739183514211502
      },
      {
        "x": 2.0457295475256165,
        "y": 1.728017690195819,
        "yaw": -2.4739183514211502
      },
      {
        "x": 2.022171634409167,
        "y": 1.7094428488883457,
        "yaw": -2.4739183514211502
      },
      {
        "x": 1.9986137212927175,
        "y": 1.6908680075808724,
        "yaw": -2.4739183514211502
      },
      {
        "x": 1.9750558081762681,
        "y": 1.672293166273399,
        "yaw": -2.4739183514211502
      },
      {
        "x": 1.9514978950598185,
        "y": 1.6537183249659257,
        "yaw": -2.4739183514211502
      },
      {
        "x": 1.9279399819433691,
        "y": 1.6351434836584524,
        "yaw": -2.4739183514211502
      },
      {
        "x": 1.9043820688269195,
        "y": 1.616568642350979,
        "yaw": -2.4739183514211502
      },
      {
        "x": 1.8808241557104701,
        "y": 1.5979938010435057,
        "yaw": -2.4739183514211502
      },
      {
        "x": 1.8572662425940205,
        "y": 1.5794189597360324,
        "yaw": -2.4739183514211502
      },
      {
        "x": 1.8348779815065865,
        "y": 1.5594768865301791,
        "yaw": -2.35391835142115
      },
      {
        "x": 1.815038032158621,
        "y": 1.5369980758824406,
        "yaw": -2.23391835142115
      },
      {
        "x": 1.7980317471509282,
        "y": 1.5123058344186968,
        "yaw": -2.1139183514211504
      },
      {
        "x": 1.784103723260034,
        "y": 1.4857553039388474,
        "yaw": -1.9939183514211505
      },
      {
        "x": 1.77345428346921,
        "y": 1.4577283535088,
        "yaw": -1.8739183514211502
      },
      {
        "x": 1.7662365957774322,
        "y": 1.4286280871414507,
        "yaw": -1.7539183514211503
      },
      {
        "x": 1.7625544702256701,
        "y": 1.3988730460611938,
        "yaw": -1.6339183514211502
      },
      {
        "x": 1.7624608658252723,
        "y": 1.3688911889392117,
        "yaw": -1.5139183514211503
      },
      {
        "x": 1.7589646027876475,
        "y": 1.3986686411982359,
        "yaw": -1.3939183514211502
      },
      {
        "x": 1.751928758113309,
        "y": 1.4278134075892244,
        "yaw": -1.2739183514211503
      },
      {
        "x": 1.7414545264445138,
        "y": 1.4559063068560343,
        "yaw": -1.1539183514211502
      },
      {
        "x": 1.7276925558094252,
        "y": 1.482543286461569,
        "yaw": -1.0339183514211503
      },
      {
        "x": 1.710840780892453,
        "y": 1.5073412339656356,
        "yaw": -0.9139183514211503
      },
      {
        "x": 1.6911415761934712,
        "y": 1.5299434872270767,
        "yaw": -0.7939183514211503
      },
      {
        "x": 1.6688782700212388,
        "y": 1.5500249641784403,
        "yaw": -0.6739183514211502
      },
      {
        "x": 1.644371069459318,
        "y": 1.5672968383930275,
        "yaw": -0.5539183514211502
      },
      {
        "x": 1.617972454914596,
        "y": 1.5815106931969116,
        "yaw": -0.4339183514211501
      },
      {
        "x": 1.5900621104873611,
        "y": 1.5924620945784627,
        "yaw": -0.3139183514211502
      },
      {
        "x": 1.561041463078054,
        "y": 1.5999935315071903,
        "yaw": -0.19391835142115021
      },
      {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      }
    ]
  },
  "metrics": {
    "sample_count": 282,
    "goal_count": 1,
    "plan_count": 1,
    "planner_status_count": 3,
    "tracker_status_count": 11,
    "min_distance_to_goal": 1.134984030243007,
    "min_distance_to_plan_end": 1.0264559839239418,
    "final_distance_to_goal": 3.2517851957135626,
    "final_distance_to_plan_end": 3.180640334560456,
    "final_plan_end_to_goal": 0.10861283351664033,
    "final_plan_end_yaw_to_goal": 0.07391835142115022,
    "max_abs_cmd_linear": 0.48504660603023436,
    "max_abs_cmd_angular": 0.7340616551279313,
    "max_abs_ackermann_speed": 0.4850465953350067,
    "max_abs_steering_angle": 0.4833326041698456,
    "tf_failures": 32,
    "saw_plan_ok": true,
    "saw_plan_failed": false,
    "saw_goal_reached": false,
    "saw_align_goal_yaw": false,
    "saw_no_recent_odom": true
  },
  "diagnostic_hints": [
    "TF 查询失败 32 次；需要检查 map->odom 和 odom frame。"
  ],
  "events": {
    "goals": [
      {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      }
    ],
    "plans": [
      {
        "frame_id": "map",
        "points": 137,
        "length": 4.07913615550667,
        "start": {
          "x": 4.319061520579429,
          "y": 3.072882370192417,
          "yaw": -1.0339183514211503
        },
        "end": {
          "x": 1.5313279087732288,
          "y": 1.603996681372098,
          "yaw": -0.07391835142115022
        },
        "reverse_segment_fraction": 0.08823529411764706,
        "elapsed_sec": 13.91068090799854
      }
    ],
    "planner_status": [
      {
        "elapsed_sec": 13.738051686999825,
        "data": "goal_received map=(1.500,1.500,0.000)"
      },
      {
        "elapsed_sec": 13.743705893999504,
        "data": "plan_start start=(4.319,3.073,-1.034) goal=(1.500,1.500,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=1.000 goal_yaw_tolerance=0.175"
      },
      {
        "elapsed_sec": 13.911960823999834,
        "data": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
        "parsed_plan_ok": {
          "points": 137,
          "iterations": 1112,
          "planning_ms": 121.587,
          "goal_error": 0.109,
          "yaw_error": 0.074
        }
      }
    ],
    "tracker_status": [
      {
        "elapsed_sec": 4.289726219998556,
        "data": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
      },
      {
        "elapsed_sec": 5.287483195999812,
        "data": "stop no_recent_odom"
      },
      {
        "elapsed_sec": 5.552909572999852,
        "data": "stop no_recent_odom"
      },
      {
        "elapsed_sec": 5.562989195999762,
        "data": "stop no_recent_odom"
      },
      {
        "elapsed_sec": 5.851492652998786,
        "data": "stop no_recent_odom"
      },
      {
        "elapsed_sec": 6.214493430999937,
        "data": "stop no_recent_odom"
      },
      {
        "elapsed_sec": 6.222986429998855,
        "data": "stop no_recent_odom"
      },
      {
        "elapsed_sec": 6.2369380529999034,
        "data": "stop no_recent_odom"
      },
      {
        "elapsed_sec": 6.246518551999543,
        "data": "stop no_recent_odom"
      },
      {
        "elapsed_sec": 6.337326162998579,
        "data": "stop no_recent_odom"
      },
      {
        "elapsed_sec": 13.918720739999117,
        "data": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
      }
    ]
  },
  "samples": [
    {
      "elapsed_sec": 0.6449648269990575,
      "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": 0.8401820079998288,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": null,
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 0.9892974869999307,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": null,
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 1.1046312619982928,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": null,
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 2.25701322399982,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": null,
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 2.4012780359989847,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 2.5212219770000956,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 2.6361474609984725,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 2.784566480999274,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 2.896666839998943,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.008442156999081,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.127831972999047,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.2492191639994417,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.2610898699986137,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.0025754630000003
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.4538876759997947,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.593390237998392,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.616409484999167,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.060840911
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.640408856999784,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.042934539
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.8445342849990993,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.9701036829992518,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 3.9857122229987,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.0068335420000003
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 4.141761240998676,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 4.25906326599943,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 4.272490972000014,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.0249130810000002
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": ""
    },
    {
      "elapsed_sec": 4.43661598899962,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
    },
    {
      "elapsed_sec": 4.550758555998982,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
    },
    {
      "elapsed_sec": 4.681245869998747,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
    },
    {
      "elapsed_sec": 4.690470034998725,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.029846703
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
    },
    {
      "elapsed_sec": 4.838165429999208,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
    },
    {
      "elapsed_sec": 4.858535634999498,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.010944455
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
    },
    {
      "elapsed_sec": 5.037200233999101,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
    },
    {
      "elapsed_sec": 5.1611546730000555,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
    },
    {
      "elapsed_sec": 5.275110572998528,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": null,
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "ready graph_nodes=0 graph_edges=0 motion_enabled=True"
    },
    {
      "elapsed_sec": 5.291292861998954,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.024579117
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 5.433601465998436,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": {
        "linear_x": 0.0,
        "angular_z": 0.0
      },
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 5.548378239998783,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": {
        "linear_x": 0.0,
        "angular_z": 0.0
      },
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 5.555930821999937,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.0587690700000003
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 5.732769628999449,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": {
        "linear_x": 0.0,
        "angular_z": 0.0
      },
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 5.842894195999179,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": {
        "linear_x": 0.0,
        "angular_z": 0.0
      },
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 5.9661477189984,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": {
        "linear_x": 0.0,
        "angular_z": 0.0
      },
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.079125659998681,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": {
        "linear_x": 0.0,
        "angular_z": 0.0
      },
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.188880185000016,
      "pose_map": {
        "available": false,
        "reason": "tf_unavailable",
        "source_frame": "odom"
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "distance_to_plan_end": null,
      "yaw_error_to_plan_end": null,
      "plan_end_to_goal": null,
      "plan_end_yaw_to_goal": null,
      "cmd_vel": {
        "linear_x": 0.0,
        "angular_z": 0.0
      },
      "ackermann_cmd": {
        "speed": 0.0,
        "steering_angle": 0.0
      },
      "planner_status": "",
      "tracker_status": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.204765265998503,
      "pose_map": {
        "available": false,
        "reason": "odom_too_old",
        "age_sec": 2.001656868
      },
      "goal": null,
      "plan_end": null,
      "distance_to_goal": null,
      "yaw_error_to_goal": null,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.228467970999191,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 1.9272057530000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.32846645599966,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 1.3299324670000001,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.433331564998298,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.635106279,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.539344423999864,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.23949683900000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.630534201000046,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.032414954,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.7276988529993105,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029219746,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.831569836998824,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.033398162,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 6.931064613998387,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.033097203,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.029552264999438,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.031425495000000005,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.127937082999779,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029808996,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.227120609999474,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.028986704000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.329597135998483,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.031574579000000005,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.426983953999297,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029043329000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.527387271999032,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029194162000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.627171297999666,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029110121000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.727217948999169,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029136954000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.82735268399847,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029237703,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 7.927180709999448,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029160954000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.027210735999688,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029121454,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.128624469998613,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029605579000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.227233579998938,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029130078,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.327156938999906,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.02907312,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.427333089999593,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029008037,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.5270315329999,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029026995000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.626903099999254,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.028814995000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.726927834999515,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.028868079,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.826898610999706,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.028964287000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 8.927099052998528,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.028918454000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.02728966199902,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029029954,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.127660812999238,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029072245000000004,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.227135380999243,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029078579,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.327021656999932,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029058037000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.427201015998435,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029098871000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.527296624999508,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.028998037,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.627135650998753,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.028928579000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.727022425999166,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.028944412000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.827530618998935,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029230037,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 9.927539435999279,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.02921562,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.02735666999979,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029207954,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.12719777899838,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029215829000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.227126887999475,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.028797746000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.32776412199928,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029158120000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.427032105999388,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.02902737,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.528809422999984,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.02933412,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.629649281998354,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.03159737,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.727077973999258,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029147370000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.82871433299988,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.030596203000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 10.927141608999591,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029137496000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.027290133999486,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029244329000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.127491117998943,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029445662,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.22716730999855,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029163078000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.327186376998725,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029179537000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.427222652999262,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029103828,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.52704421999988,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029064870000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.627048077998552,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029136870000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.72706010299953,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029054245000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.827187961998789,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029082162,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 11.927613653999288,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029202620000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.026920262998829,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029034911000000004,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.127031662999798,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029106579,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.227125271998375,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029165370000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.327016254999762,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029009329,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.426958904999992,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029071329000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.526919138999801,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029016787000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.627030121999269,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029057912,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.727184688999841,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029024162000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.826976671998636,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.028981870000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 12.926971863998915,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.028929370000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.027521096999408,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029057245000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.127192871999796,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.028986329,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.250254143998973,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.052147366,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.329134088999126,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.030684120000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.427338571998916,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.029263162000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.543674260999978,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.03026312,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.6402784109996,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.7405673661903645,
        "y": 2.843854621551168,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.039784827,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 1.3652171627767513,
      "yaw_error_to_goal": 1.127114899942669,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.726960938998673,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029071786000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.82808404699972,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319061520579429,
        "y": 3.072882370192417,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029424912,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": null,
      "distance_to_goal": 3.2281677167200775,
      "yaw_error_to_goal": 1.0339183514211503,
      "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=(4.319,3.073,-1.034) goal=(1.500,1.500,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=1.000 goal_yaw_tolerance=0.175",
      "tracker_status": "stop no_recent_odom"
    },
    {
      "elapsed_sec": 13.928494445999604,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.030424954,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "distance_to_plan_end": 2.217604680289184,
      "yaw_error_to_plan_end": 0.07391835142115022,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.2,
        "angular_z": -0.7340616551279313
      },
      "ackermann_cmd": {
        "speed": 0.20000000298023224,
        "steering_angle": -0.4833326041698456
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.027196555000046,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.319210703990144,
        "y": 3.0726306943657997,
        "yaw": -1.0339183514211503,
        "odom_age_sec": 0.029076078,
        "odom_linear_x": 0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.228175381597794,
      "yaw_error_to_goal": 1.0339183514211503,
      "distance_to_plan_end": 3.1510595589402093,
      "yaw_error_to_plan_end": 0.9600000000000001,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30111720624493016,
        "angular_z": -0.19700691501581175
      },
      "ackermann_cmd": {
        "speed": -0.3011172115802765,
        "steering_angle": 0.0932866632938385
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.127185620998716,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0,
        "y": 2.220446049250313e-16,
        "yaw": 0.0,
        "odom_age_sec": 0.02906337,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1213203435596424,
      "yaw_error_to_goal": 0.0,
      "distance_to_plan_end": 2.217604680289184,
      "yaw_error_to_plan_end": 0.07391835142115022,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4184591536201237,
        "angular_z": 0.27297210849273246
      },
      "ackermann_cmd": {
        "speed": 0.4184591472148895,
        "steering_angle": 0.09301356226205826
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.227355478999016,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0022750866847194295,
        "y": -4.692386629545631e-05,
        "yaw": -0.03607845306396462,
        "odom_age_sec": 0.029121662000000003,
        "odom_linear_x": 0.03200000151991844,
        "odom_angular_z": -0.36140280961990356
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1197454304151715,
      "yaw_error_to_goal": 0.03607845306396462,
      "distance_to_plan_end": 2.216068234563868,
      "yaw_error_to_plan_end": 0.0378398983571856,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.41596118643643987,
        "angular_z": 0.2796550767728741
      },
      "ackermann_cmd": {
        "speed": 0.4159611761569977,
        "steering_angle": 0.09584582597017288
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.326951837998422,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.32144613109403,
        "y": 3.068859335960259,
        "yaw": -1.0337578435633508,
        "odom_age_sec": 0.029007162000000003,
        "odom_linear_x": 0.08500000089406967,
        "odom_angular_z": 0.003204796463251114
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2282933396293365,
      "yaw_error_to_goal": 1.0337578435633508,
      "distance_to_plan_end": 3.15128264224802,
      "yaw_error_to_plan_end": 0.9598394921422005,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38747065676859044,
        "angular_z": -0.34881454822089925
      },
      "ackermann_cmd": {
        "speed": 0.38747066259384155,
        "steering_angle": -0.12802942097187042
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.427296445999673,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.324763385190888,
        "y": 3.0632650291987185,
        "yaw": -1.0332867880556909,
        "odom_age_sec": 0.07914327800000001,
        "odom_linear_x": 0.12399999797344208,
        "odom_angular_z": 0.009248912334442139
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.228480406295004,
      "yaw_error_to_goal": 1.0332867880556909,
      "distance_to_plan_end": 3.151625909253411,
      "yaw_error_to_plan_end": 0.9593684366345406,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.41777258226711894,
        "angular_z": -0.2748188851153824
      },
      "ackermann_cmd": {
        "speed": 0.4177725911140442,
        "steering_angle": -0.09379216283559799
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.527153803999681,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.008580897340343174,
        "y": -0.0003255596133948657,
        "yaw": -0.05420398712158203,
        "odom_age_sec": 0.029069412000000003,
        "odom_linear_x": 0.12399999797344208,
        "odom_angular_z": -0.36116158962249756
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.115492312585272,
      "yaw_error_to_goal": 0.05420398712158203,
      "distance_to_plan_end": 2.2119241202510764,
      "yaw_error_to_plan_end": 0.019714364299568188,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3838126580579486,
        "angular_z": -0.35675338034773213
      },
      "ackermann_cmd": {
        "speed": 0.38381266593933105,
        "steering_angle": -0.1321437507867813
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.626948827999513,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.02257624664182467,
        "y": -0.0013365104632034885,
        "yaw": -0.09046077728271484,
        "odom_age_sec": 0.028896662000000004,
        "odom_linear_x": 0.14300000667572021,
        "odom_angular_z": -0.3570080101490021
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.106369451125986,
      "yaw_error_to_goal": 0.09046077728271484,
      "distance_to_plan_end": 2.2030493037588585,
      "yaw_error_to_plan_end": 0.016542425861564625,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4110450282400818,
        "angular_z": 0.29251599103321
      },
      "ackermann_cmd": {
        "speed": 0.41104501485824585,
        "steering_angle": 0.10141536593437195
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.727377018998595,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.04013920974799534,
        "y": -0.0032549080967287924,
        "yaw": -0.12697887420654297,
        "odom_age_sec": 0.028980787,
        "odom_linear_x": 0.18299999833106995,
        "odom_angular_z": -0.36472088098526
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0954638736165583,
      "yaw_error_to_goal": 0.12697887420654297,
      "distance_to_plan_end": 2.192464687959794,
      "yaw_error_to_plan_end": 0.05306052278539275,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.40776459057862835,
        "angular_z": 0.3008826716764621
      },
      "ackermann_cmd": {
        "speed": 0.40776458382606506,
        "steering_angle": 0.10512829571962357
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.82731750199855,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.05143834580194273,
        "y": -0.004800274106190328,
        "yaw": -0.14490127563476562,
        "odom_age_sec": 0.029171203000000003,
        "odom_linear_x": 0.2290000021457672,
        "odom_angular_z": -0.3656036853790283
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0887208360532714,
      "yaw_error_to_goal": 0.14490127563476562,
      "distance_to_plan_end": 2.1859324698049467,
      "yaw_error_to_plan_end": 0.07098292421361542,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.37997477517692124,
        "angular_z": -0.36485246254167025
      },
      "ackermann_cmd": {
        "speed": 0.3799747824668884,
        "steering_angle": -0.13645556569099426
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 14.926950568999018,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.331630625345811,
        "y": 3.051696163591072,
        "yaw": -1.0322582577560273,
        "odom_age_sec": 0.028994328000000003,
        "odom_linear_x": 0.26100000739097595,
        "odom_angular_z": 0.020548854023218155
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.228915140182467,
      "yaw_error_to_goal": 1.0322582577560273,
      "distance_to_plan_end": 3.152384668034799,
      "yaw_error_to_plan_end": 0.9583399063348771,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3777712475055034,
        "angular_z": -0.36939606648709916
      },
      "ackermann_cmd": {
        "speed": 0.377771258354187,
        "steering_angle": -0.13892890512943268
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.027140259999214,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.775812635089006,
        "y": 2.7696986603531064,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029058495,
        "odom_linear_x": 0.2809999883174896,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2993103161974873,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.191064181814708,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.40236703775991833,
        "angular_z": 0.3142742864341409
      },
      "ackermann_cmd": {
        "speed": 0.4023670256137848,
        "steering_angle": 0.11123109608888626
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.127370284999415,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.78752536512793,
        "y": 2.7450551044537983,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.02903187,
        "odom_linear_x": 0.26100000739097595,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2778235593063731,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1694663148326743,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4005091394213516,
        "angular_z": 0.3187759916051533
      },
      "ackermann_cmd": {
        "speed": 0.40050914883613586,
        "steering_angle": 0.11332985013723373
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.227091392998773,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.804988699100328,
        "y": 2.708312291676,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029039579000000003,
        "odom_linear_x": 0.2549999952316284,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2462089314373483,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1377184165351866,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.263105263477809,
        "angular_z": -0.2832612798031549
      },
      "ackermann_cmd": {
        "speed": -0.26310527324676514,
        "steering_angle": 0.15275563299655914
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.32713341699855,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.08892712046242623,
        "y": -0.01128522459274639,
        "yaw": -0.20174312591552734,
        "odom_age_sec": 0.029083412000000003,
        "odom_linear_x": 0.22200000286102295,
        "odom_angular_z": -0.4057339131832123
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0676338412394997,
      "yaw_error_to_goal": 0.20174312591552734,
      "distance_to_plan_end": 2.165561282868034,
      "yaw_error_to_plan_end": 0.12782477449437712,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2596094762687449,
        "angular_z": -0.28958145875795704
      },
      "ackermann_cmd": {
        "speed": -0.25960949063301086,
        "steering_angle": 0.15817685425281525
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.427098191999903,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.10564589846307548,
        "y": -0.0150398333268984,
        "yaw": -0.24477577209472645,
        "odom_age_sec": 0.028976745,
        "odom_linear_x": 0.15000000596046448,
        "odom_angular_z": -0.42644864320755005
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0590213833372495,
      "yaw_error_to_goal": 0.24477577209472645,
      "distance_to_plan_end": 2.1572780141768177,
      "yaw_error_to_plan_end": 0.17085742067357623,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3973704390556204,
        "angular_z": 0.3262556295404294
      },
      "ackermann_cmd": {
        "speed": 0.39737042784690857,
        "steering_angle": 0.11687316000461578
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.52795329899891,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8135972958497781,
        "y": 2.6901998247699352,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029303662,
        "odom_linear_x": 0.13699999451637268,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2308204121018946,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1222803908150196,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30115403954922865,
        "angular_z": -0.196907763343377
      },
      "ackermann_cmd": {
        "speed": -0.3011540472507477,
        "steering_angle": 0.09322864562273026
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.627078781999444,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.342642718376529,
        "y": 3.0332554911728895,
        "yaw": -1.0260017966125337,
        "odom_age_sec": 0.029089869,
        "odom_linear_x": 0.13699999451637268,
        "odom_angular_z": 0.057476140558719635
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.229781730326512,
      "yaw_error_to_goal": 1.0260017966125337,
      "distance_to_plan_end": 3.153771029115464,
      "yaw_error_to_plan_end": 0.9520834451913834,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3009662478922059,
        "angular_z": -0.1974129652320155
      },
      "ackermann_cmd": {
        "speed": -0.3009662330150604,
        "steering_angle": 0.09352443367242813
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.727227472998493,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11442046496938652,
        "y": -0.017410771003233183,
        "yaw": -0.28529071807861317,
        "odom_age_sec": 0.028993995,
        "odom_linear_x": 0.07800000160932541,
        "odom_angular_z": -0.3789553642272949
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0548396764351904,
      "yaw_error_to_goal": 0.28529071807861317,
      "distance_to_plan_end": 2.1532739795309377,
      "yaw_error_to_plan_end": 0.21137236665746292,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3948084233389453,
        "angular_z": 0.33224416424071035
      },
      "ackermann_cmd": {
        "speed": 0.39480841159820557,
        "steering_angle": 0.11976326256990433
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.826860080998813,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11688670580916138,
        "y": -0.01816035855641651,
        "yaw": -0.30255985260009766,
        "odom_age_sec": 0.028897495000000002,
        "odom_linear_x": 0.052000001072883606,
        "odom_angular_z": -0.35496068000793457
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0537315449833216,
      "yaw_error_to_goal": 0.30255985260009766,
      "distance_to_plan_end": 2.1522168521856897,
      "yaw_error_to_plan_end": 0.22864150117894744,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3011963385615787,
        "angular_z": -0.19679386132519094
      },
      "ackermann_cmd": {
        "speed": -0.3011963367462158,
        "steering_angle": 0.09316202253103256
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 15.926978146999318,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.346462357613075,
        "y": 3.0269551852267838,
        "yaw": -1.0166402762029496,
        "odom_age_sec": 0.028918495000000002,
        "odom_linear_x": 0.04500000178813934,
        "odom_angular_z": 0.05788473039865494
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2301610007860515,
      "yaw_error_to_goal": 1.0166402762029496,
      "distance_to_plan_end": 3.1543292264342337,
      "yaw_error_to_plan_end": 0.9427219247817994,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.25922127912516424,
        "angular_z": -0.2902665437085868
      },
      "ackermann_cmd": {
        "speed": -0.25922128558158875,
        "steering_angle": 0.15877829492092133
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.027042504998462,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8176278588964665,
        "y": 2.681719529790314,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029007329000000002,
        "odom_linear_x": 0.039000000804662704,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2236619238314945,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1151027752827276,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2589561328083008,
        "angular_z": -0.29073254546619953
      },
      "ackermann_cmd": {
        "speed": -0.2589561343193054,
        "steering_angle": 0.15918903052806854
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.127024737999818,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8182156280188353,
        "y": 2.680482864967096,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.028940578,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2226205381868673,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1140588256123956,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.25828861658256,
        "angular_z": -0.29189880570654336
      },
      "ackermann_cmd": {
        "speed": -0.2582886219024658,
        "steering_angle": 0.16022281348705292
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.227041262000057,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8180863147181017,
        "y": 2.6807549398415755,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.028480536,
        "odom_linear_x": -0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2228495948280909,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1142884413661782,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3937003164551463,
        "angular_z": 0.33480175240552645
      },
      "ackermann_cmd": {
        "speed": 0.3937003016471863,
        "steering_angle": 0.12101265043020248
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.32705282799907,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.34630039005172,
        "y": 3.0272182074477785,
        "yaw": -1.0166402762029496,
        "odom_age_sec": 0.028894204000000003,
        "odom_linear_x": -0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2301426227906065,
      "yaw_error_to_goal": 1.0166402762029496,
      "distance_to_plan_end": 3.154303343472275,
      "yaw_error_to_plan_end": 0.9427219247817994,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.25855119741371413,
        "angular_z": -0.2914412153874634
      },
      "ackermann_cmd": {
        "speed": -0.2585512101650238,
        "steering_angle": 0.1598161906003952
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.42741922699861,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8175406606913023,
        "y": 2.681902994604763,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029176412000000002,
        "odom_linear_x": -0.01899999938905239,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2238164731069667,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1152577098892222,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30081072082720134,
        "angular_z": -0.19783077481346678
      },
      "ackermann_cmd": {
        "speed": -0.30081072449684143,
        "steering_angle": 0.0937693864107132
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.529284835,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8133534069731274,
        "y": 2.6907129663812412,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.030601078,
        "odom_linear_x": -0.07100000232458115,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2312545333805198,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1227157546498465,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2598162604460431,
        "angular_z": -0.2892151618712157
      },
      "ackermann_cmd": {
        "speed": -0.2598162591457367,
        "steering_angle": 0.15785643458366394
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.62730315099907,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.10677052571665735,
        "y": -0.014786186177619287,
        "yaw": -0.3387107849121095,
        "odom_age_sec": 0.029150703000000004,
        "odom_linear_x": -0.11100000143051147,
        "odom_angular_z": -0.3613588213920593
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.058073263478824,
      "yaw_error_to_goal": 0.3387107849121095,
      "distance_to_plan_end": 2.1563445248599473,
      "yaw_error_to_plan_end": 0.26479243349095927,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3925640330054659,
        "angular_z": 0.3374039719457315
      },
      "ackermann_cmd": {
        "speed": 0.3925640285015106,
        "steering_angle": 0.12229342013597488
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.728010507998988,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.10167476887374916,
        "y": -0.012934593989069265,
        "yaw": -0.35791492462158203,
        "odom_age_sec": 0.02944712,
        "odom_linear_x": -0.10400000214576721,
        "odom_angular_z": -0.3757361173629761
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0601661432256266,
      "yaw_error_to_goal": 0.35791492462158203,
      "distance_to_plan_end": 2.1583268634906836,
      "yaw_error_to_plan_end": 0.28399657320043187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2614630877350006,
        "angular_z": -0.2862640592964399
      },
      "ackermann_cmd": {
        "speed": -0.26146307587623596,
        "steering_angle": 0.1553034484386444
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.82732153299912,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.3440306441838334,
        "y": 3.0308918175598474,
        "yaw": -1.0137778748963204,
        "odom_age_sec": 0.029214578,
        "odom_linear_x": -0.07100000232458115,
        "odom_angular_z": 0.022684354335069656
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.229882360416305,
      "yaw_error_to_goal": 1.0137778748963204,
      "distance_to_plan_end": 3.1539382377374725,
      "yaw_error_to_plan_end": 0.9398595234751702,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3907874091363803,
        "angular_z": 0.34143124342932374
      },
      "ackermann_cmd": {
        "speed": 0.39078742265701294,
        "steering_angle": 0.12429513037204742
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 16.927584556999136,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.3420797292777165,
        "y": 3.034040125025796,
        "yaw": -1.0147733395192948,
        "odom_age_sec": 0.029261286,
        "odom_linear_x": -0.026000000536441803,
        "odom_angular_z": -0.017456205561757088
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.229658850832462,
      "yaw_error_to_goal": 1.0147733395192948,
      "distance_to_plan_end": 3.153624905914814,
      "yaw_error_to_plan_end": 0.9408549880981446,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3008042429134777,
        "angular_z": -0.19784816549001635
      },
      "ackermann_cmd": {
        "speed": -0.3008042573928833,
        "steering_angle": 0.09377959370613098
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.027220997999393,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.09465856667841432,
        "y": -0.010136568130101997,
        "yaw": -0.41602325439453125,
        "odom_age_sec": 0.029216328000000003,
        "odom_linear_x": -0.03200000151991844,
        "odom_angular_z": -0.3847571611404419
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0628855999822506,
      "yaw_error_to_goal": 0.41602325439453125,
      "distance_to_plan_end": 2.1608898504235885,
      "yaw_error_to_plan_end": 0.3421049029733811,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38999128139003403,
        "angular_z": 0.3432195290782105
      },
      "ackermann_cmd": {
        "speed": 0.38999128341674805,
        "steering_angle": 0.1251918077468872
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.127944104999187,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.09197205661099961,
        "y": -0.008897985876057612,
        "yaw": -0.4542207717895508,
        "odom_age_sec": 0.029368995000000002,
        "odom_linear_x": -0.01899999938905239,
        "odom_angular_z": -0.3813396096229553
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0638109945305265,
      "yaw_error_to_goal": 0.4542207717895508,
      "distance_to_plan_end": 2.161752640056488,
      "yaw_error_to_plan_end": 0.38030242036840056,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3888448221591555,
        "angular_z": 0.3457769228767398
      },
      "ackermann_cmd": {
        "speed": 0.3888448178768158,
        "steering_angle": 0.12648269534111023
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.227037587999803,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.343143407143227,
        "y": 3.0323203451427108,
        "yaw": -1.017551713177952,
        "odom_age_sec": 0.029132411,
        "odom_linear_x": 0.013000000268220901,
        "odom_angular_z": -0.01839297264814377
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2297786415976364,
      "yaw_error_to_goal": 1.017551713177952,
      "distance_to_plan_end": 3.153793729044566,
      "yaw_error_to_plan_end": 0.9436333617568017,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30119972469082257,
        "angular_z": -0.19678474149854228
      },
      "ackermann_cmd": {
        "speed": -0.301199734210968,
        "steering_angle": 0.09315668791532516
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.32755690399972,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.09261164639237851,
        "y": -0.009211177510777713,
        "yaw": -0.47410297393798817,
        "odom_age_sec": 0.029369828,
        "odom_linear_x": -0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.063603730417698,
      "yaw_error_to_goal": 0.47410297393798817,
      "distance_to_plan_end": 2.1615605657951376,
      "yaw_error_to_plan_end": 0.40018462251683795,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38762241656578533,
        "angular_z": 0.34848056366874774
      },
      "ackermann_cmd": {
        "speed": 0.3876224160194397,
        "steering_angle": 0.12785863876342773
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.427041593999093,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8109485991952585,
        "y": 2.6957726761759737,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029053245000000002,
        "odom_linear_x": 0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.235540903584557,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1270148860339357,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3880589961923773,
        "angular_z": 0.3475177085628251
      },
      "ackermann_cmd": {
        "speed": 0.38805899024009705,
        "steering_angle": 0.1273672729730606
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.527182534999156,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.345082293214469,
        "y": 3.02916513264441,
        "yaw": -1.017175592968258,
        "odom_age_sec": 0.029139079000000002,
        "odom_linear_x": 0.04500000178813934,
        "odom_angular_z": 0.011111069470643997
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2299905972088987,
      "yaw_error_to_goal": 1.017175592968258,
      "distance_to_plan_end": 3.1540955677442977,
      "yaw_error_to_plan_end": 0.9432572415471078,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.300989556915746,
        "angular_z": -0.1973503013036827
      },
      "ackermann_cmd": {
        "speed": -0.30098956823349,
        "steering_angle": 0.09348772466182709
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.62724664199959,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.346112997478659,
        "y": 3.027489735773126,
        "yaw": -1.01619269002417,
        "odom_age_sec": 0.029106995,
        "odom_linear_x": 0.039000000804662704,
        "odom_angular_z": 0.020067507401108742
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.230105894132453,
      "yaw_error_to_goal": 1.01619269002417,
      "distance_to_plan_end": 3.154258640556669,
      "yaw_error_to_plan_end": 0.9422743386030198,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38706663005063024,
        "angular_z": 0.3497019114125094
      },
      "ackermann_cmd": {
        "speed": 0.38706663250923157,
        "steering_angle": 0.1284840703010559
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.72718624999834,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8117881889558982,
        "y": 2.6940061813340326,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029147495000000002,
        "odom_linear_x": 0.01899999938905239,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.234043206632684,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1255126293238154,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3008127981996563,
        "angular_z": -0.1978251976796568
      },
      "ackermann_cmd": {
        "speed": -0.30081281065940857,
        "steering_angle": 0.09376611560583115
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.82702827399953,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.346468362840308,
        "y": 3.0269114473873007,
        "yaw": -1.0135608245823708,
        "odom_age_sec": 0.029130870000000003,
        "odom_linear_x": -0.013000000268220901,
        "odom_angular_z": 0.025974880903959274
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2301456172768996,
      "yaw_error_to_goal": 1.0135608245823708,
      "distance_to_plan_end": 3.1543148554748144,
      "yaw_error_to_plan_end": 0.9396424731612206,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3010038029653285,
        "angular_z": -0.19731199631031057
      },
      "ackermann_cmd": {
        "speed": -0.3010038137435913,
        "steering_angle": 0.09346528351306915
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 17.926911422999183,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8113687522841677,
        "y": 2.6948886750849907,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029020161000000003,
        "odom_linear_x": -0.01899999938905239,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.23479125593979,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1262629426475899,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3008112796612839,
        "angular_z": -0.1978292745178117
      },
      "ackermann_cmd": {
        "speed": -0.3008112907409668,
        "steering_angle": 0.09376850724220276
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.027226487998632,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.09091710227495753,
        "y": -0.008177966459962605,
        "yaw": -0.5287504196166992,
        "odom_age_sec": 0.02922187,
        "odom_linear_x": -0.052000001072883606,
        "odom_angular_z": -0.36203810572624207
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0640046974695845,
      "yaw_error_to_goal": 0.5287504196166992,
      "distance_to_plan_end": 2.1619182192186246,
      "yaw_error_to_plan_end": 0.45483206819554906,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38675167580438075,
        "angular_z": 0.3503918333175483
      },
      "ackermann_cmd": {
        "speed": 0.3867516815662384,
        "steering_angle": 0.1288384348154068
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.127264928998557,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.34473111828882,
        "y": 3.0297129434455186,
        "yaw": -1.0130672310684052,
        "odom_age_sec": 0.029183579,
        "odom_linear_x": -0.057999998331069946,
        "odom_angular_z": 0.009860817342996597
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.229940684394299,
      "yaw_error_to_goal": 1.0130672310684052,
      "distance_to_plan_end": 3.1540298792581587,
      "yaw_error_to_plan_end": 0.939148879647255,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.26204492016173,
        "angular_z": -0.285207011951726
      },
      "ackermann_cmd": {
        "speed": -0.26204490661621094,
        "steering_angle": 0.15440097451210022
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.22721120299866,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8071096777438405,
        "y": 2.7038497576989564,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029175745000000003,
        "odom_linear_x": -0.052000001072883606,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2424051647010173,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1339013950084964,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30080505098402127,
        "angular_z": -0.19784599618608897
      },
      "ackermann_cmd": {
        "speed": -0.30080506205558777,
        "steering_angle": 0.09377831965684891
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.327181893999295,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.341365787397156,
        "y": 3.035137364496063,
        "yaw": -1.0144214113447991,
        "odom_age_sec": 0.029091495000000002,
        "odom_linear_x": -0.07800000160932541,
        "odom_angular_z": -0.018832769244909286
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.229552022442583,
      "yaw_error_to_goal": 1.0144214113447991,
      "distance_to_plan_end": 3.1534864093878365,
      "yaw_error_to_plan_end": 0.9405030599236489,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38608577780072884,
        "angular_z": 0.35184528864296516
      },
      "ackermann_cmd": {
        "speed": 0.38608577847480774,
        "steering_angle": 0.1295875757932663
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.427197125998646,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0810198758438152,
        "y": -0.0020047816905308657,
        "yaw": -0.5862751007080077,
        "odom_age_sec": 0.029162953000000002,
        "odom_linear_x": -0.07800000160932541,
        "odom_angular_z": -0.38961681723594666
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.066282400102058,
      "yaw_error_to_goal": 0.5862751007080077,
      "distance_to_plan_end": 2.163939483843966,
      "yaw_error_to_plan_end": 0.5123567492868575,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3858077097850045,
        "angular_z": 0.35245012770361595
      },
      "ackermann_cmd": {
        "speed": 0.38580772280693054,
        "steering_angle": 0.12990036606788635
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.5270177329985,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8055349927853226,
        "y": 2.7071628910735046,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.07907902800000001,
        "odom_linear_x": -0.07100000232458115,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2452284438613137,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1367344505861443,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2629030387594153,
        "angular_z": -0.2836342907161654
      },
      "ackermann_cmd": {
        "speed": -0.26290303468704224,
        "steering_angle": 0.15306948125362396
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.627079006999338,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8055349927853226,
        "y": 2.7071628910735046,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.179129052,
        "odom_linear_x": -0.07100000232458115,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2452284438613137,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1367344505861443,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2638583323724432,
        "angular_z": -0.2818642232412537
      },
      "ackermann_cmd": {
        "speed": -0.2638583183288574,
        "steering_angle": 0.15158657729625702
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.727017321998574,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.807412261656479,
        "y": 2.7032131218727606,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029064453,
        "odom_linear_x": 0.03200000151991844,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.241863162857948,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1333575574256827,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.26204033373662966,
        "angular_z": -0.2852153737820269
      },
      "ackermann_cmd": {
        "speed": -0.2620403468608856,
        "steering_angle": 0.15440808236598969
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.826974928999334,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8077008754341353,
        "y": 2.7026058791770486,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029041245,
        "odom_linear_x": 0.013000000268220901,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.24134633739909,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1328389939451182,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38518349791818496,
        "angular_z": 0.35380337512483273
      },
      "ackermann_cmd": {
        "speed": 0.3851834833621979,
        "steering_angle": 0.1306024193763733
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 18.92732753599921,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.08217123284933203,
        "y": -0.002783781383854267,
        "yaw": -0.6063518524169921,
        "odom_age_sec": 0.029095536,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0660584470315304,
      "yaw_error_to_goal": 0.6063518524169921,
      "distance_to_plan_end": 2.1637464100187502,
      "yaw_error_to_plan_end": 0.5324335009958419,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3009893955221637,
        "angular_z": -0.19735073523534935
      },
      "ackermann_cmd": {
        "speed": -0.30098938941955566,
        "steering_angle": 0.09348797798156738
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.027187309999135,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.341528298616067,
        "y": 3.0348748646452908,
        "yaw": -1.0144214113447991,
        "odom_age_sec": 0.028987078000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2295702379660085,
      "yaw_error_to_goal": 1.0144214113447991,
      "distance_to_plan_end": 3.1535121065948095,
      "yaw_error_to_plan_end": 0.9405030599236489,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.26192226034313254,
        "angular_z": -0.28543048066968907
      },
      "ackermann_cmd": {
        "speed": -0.26192227005958557,
        "steering_angle": 0.15459124743938446
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.127097708998917,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.08217123284933203,
        "y": -0.002783781383854267,
        "yaw": -0.6063518524169921,
        "odom_age_sec": 0.029043704000000004,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0660584470315304,
      "yaw_error_to_goal": 0.6063518524169921,
      "distance_to_plan_end": 2.1637464100187502,
      "yaw_error_to_plan_end": 0.5324335009958419,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38539769588989625,
        "angular_z": 0.35333971158165733
      },
      "ackermann_cmd": {
        "speed": 0.38539770245552063,
        "steering_angle": 0.13036152720451355
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.226956815999074,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.08270408969850207,
        "y": -0.0031601086013848256,
        "yaw": -0.6238698959350585,
        "odom_age_sec": 0.028982578000000002,
        "odom_linear_x": 0.013000000268220901,
        "odom_angular_z": -0.35782909393310547
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0659666041463205,
      "yaw_error_to_goal": 0.6238698959350585,
      "distance_to_plan_end": 2.163669086701688,
      "yaw_error_to_plan_end": 0.5499515445139083,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2618912674965053,
        "angular_z": -0.2854868923090645
      },
      "ackermann_cmd": {
        "speed": -0.26189127564430237,
        "steering_angle": 0.1546393185853958
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.32711388200005,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.08294699591282972,
        "y": -0.0033379378100169,
        "yaw": -0.6238698959350585,
        "odom_age_sec": 0.029067994000000003,
        "odom_linear_x": 0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.06592937237732,
      "yaw_error_to_goal": 0.6238698959350585,
      "distance_to_plan_end": 2.163638566572439,
      "yaw_error_to_plan_end": 0.5499515445139083,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3011993256119581,
        "angular_z": -0.19678581634673945
      },
      "ackermann_cmd": {
        "speed": -0.3011993169784546,
        "steering_angle": 0.0931573212146759
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.4272332799992,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.08294699591282972,
        "y": -0.0033379378100169,
        "yaw": -0.6238698959350585,
        "odom_age_sec": 0.029070494000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.06592937237732,
      "yaw_error_to_goal": 0.6238698959350585,
      "distance_to_plan_end": 2.163638566572439,
      "yaw_error_to_plan_end": 0.5499515445139083,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30119889535211997,
        "angular_z": -0.19678697517139868
      },
      "ackermann_cmd": {
        "speed": -0.30119889974594116,
        "steering_angle": 0.09315799176692963
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.527360512000087,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8075740951798545,
        "y": 2.7028726245278687,
        "yaw": -1.127114899942669,
        "odom_age_sec": 0.029274286000000004,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2415733465503636,
      "yaw_error_to_goal": 1.127114899942669,
      "distance_to_plan_end": 1.1330667650013784,
      "yaw_error_to_plan_end": 1.0531965485215187,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3851466357440045,
        "angular_z": 0.3538830947766189
      },
      "ackermann_cmd": {
        "speed": 0.3851466476917267,
        "steering_angle": 0.13064387440681458
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.6316793269998,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0845266645394589,
        "y": -0.004494909659404911,
        "yaw": -0.6416425704956055,
        "odom_age_sec": 0.033568285,
        "odom_linear_x": 0.039000000804662704,
        "odom_angular_z": -0.36296406388282776
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.065688673685086,
      "yaw_error_to_goal": 0.6416425704956055,
      "distance_to_plan_end": 2.1634414803121995,
      "yaw_error_to_plan_end": 0.5677242190744552,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2617218019563742,
        "angular_z": -0.28579496761114614
      },
      "ackermann_cmd": {
        "speed": -0.26172178983688354,
        "steering_angle": 0.15490218997001648
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.72780297600002,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.08580451376664566,
        "y": -0.005465623992977786,
        "yaw": -0.6595754623413085,
        "odom_age_sec": 0.029319036000000003,
        "odom_linear_x": 0.03200000151991844,
        "odom_angular_z": -0.3667876720428467
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.06552066518526,
      "yaw_error_to_goal": 0.6595754623413085,
      "distance_to_plan_end": 2.163309223828721,
      "yaw_error_to_plan_end": 0.5856571109201583,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.301215396530243,
        "angular_z": -0.19674252937795506
      },
      "ackermann_cmd": {
        "speed": -0.30121541023254395,
        "steering_angle": 0.09313200414180756
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.829236498999308,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.08844068756664347,
        "y": -0.007574706369812834,
        "yaw": -0.6968202590942383,
        "odom_age_sec": 0.031028661000000003,
        "odom_linear_x": 0.026000000536441803,
        "odom_angular_z": -0.3680071234703064
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.065255719712055,
      "yaw_error_to_goal": 0.6968202590942383,
      "distance_to_plan_end": 2.163119476799571,
      "yaw_error_to_plan_end": 0.622901907673088,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3845080569674909,
        "angular_z": 0.3552606608866419
      },
      "ackermann_cmd": {
        "speed": 0.38450804352760315,
        "steering_angle": 0.1313619315624237
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 19.927494147999823,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.09097394631139855,
        "y": -0.00972663131833662,
        "yaw": -0.7146587371826172,
        "odom_age_sec": 0.02934312,
        "odom_linear_x": 0.06499999761581421,
        "odom_angular_z": -0.3580901622772217
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0650977994480275,
      "yaw_error_to_goal": 0.7146587371826172,
      "distance_to_plan_end": 2.163035475229217,
      "yaw_error_to_plan_end": 0.640740385761467,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.26077224364107565,
        "angular_z": -0.28750938507985235
      },
      "ackermann_cmd": {
        "speed": -0.2607722580432892,
        "steering_angle": 0.15637467801570892
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.027447837999716,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.0941784008351001,
        "y": -0.012547614485139302,
        "yaw": -0.7314453125,
        "odom_age_sec": 0.029060578,
        "odom_linear_x": 0.08500000089406967,
        "odom_angular_z": -0.3431876003742218
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0649781245241416,
      "yaw_error_to_goal": 0.7314453125,
      "distance_to_plan_end": 2.1630104411757647,
      "yaw_error_to_plan_end": 0.6575269610788498,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3012282930758144,
        "angular_z": -0.1967077884213828
      },
      "ackermann_cmd": {
        "speed": -0.30122828483581543,
        "steering_angle": 0.09311168640851974
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.127376653999818,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1013737178730878,
        "y": -0.019209349841015744,
        "yaw": -0.764017105102539,
        "odom_age_sec": 0.029283619,
        "odom_linear_x": 0.09799999743700027,
        "odom_angular_z": -0.3134062886238098
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0649824516689024,
      "yaw_error_to_goal": 0.764017105102539,
      "distance_to_plan_end": 2.1632306413879,
      "yaw_error_to_plan_end": 0.6900987536813887,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38451412995521966,
        "angular_z": 0.35524759073912227
      },
      "ackermann_cmd": {
        "speed": 0.38451412320137024,
        "steering_angle": 0.13135510683059692
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.22739821899995,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11019250194679264,
        "y": -0.027905555902703272,
        "yaw": -0.7932205200195312,
        "odom_age_sec": 0.029236328000000002,
        "odom_linear_x": 0.12999999523162842,
        "odom_angular_z": -0.2854197323322296
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0654443273550767,
      "yaw_error_to_goal": 0.7932205200195312,
      "distance_to_plan_end": 2.163961819570355,
      "yaw_error_to_plan_end": 0.719302168598381,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38476670267722657,
        "angular_z": 0.35470348679606406
      },
      "ackermann_cmd": {
        "speed": 0.38476669788360596,
        "steering_angle": 0.13107112050056458
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.327122116999817,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.3554520779774,
        "y": 3.0124102309803256,
        "yaw": -1.0102908914182511,
        "odom_age_sec": 0.029143620000000002,
        "odom_linear_x": 0.15700000524520874,
        "odom_angular_z": 0.031689904630184174
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.231252276811486,
      "yaw_error_to_goal": 1.0102908914182511,
      "distance_to_plan_end": 3.155836822429702,
      "yaw_error_to_plan_end": 0.9363725399971009,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38518986930750154,
        "angular_z": 0.35378959389296516
      },
      "ackermann_cmd": {
        "speed": 0.38518986105918884,
        "steering_angle": 0.13059525191783905
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.427246598999773,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.36644657009178,
        "y": 2.9948852465240554,
        "yaw": -1.000416137764248,
        "odom_age_sec": 0.029166995,
        "odom_linear_x": 0.20200000703334808,
        "odom_angular_z": 0.11501984298229218
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.232831242033245,
      "yaw_error_to_goal": 1.000416137764248,
      "distance_to_plan_end": 3.1579215988411056,
      "yaw_error_to_plan_end": 0.9264977863430978,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30087867025347315,
        "angular_z": -0.1976483008639122
      },
      "ackermann_cmd": {
        "speed": -0.3008786737918854,
        "steering_angle": 0.09366237372159958
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.527479205999043,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12731563743049001,
        "y": -0.045846836640664135,
        "yaw": -0.8330173492431641,
        "odom_age_sec": 0.029469870000000002,
        "odom_linear_x": 0.17000000178813934,
        "odom_angular_z": -0.2613617777824402
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0673424490380907,
      "yaw_error_to_goal": 0.8330173492431641,
      "distance_to_plan_end": 2.166387336560506,
      "yaw_error_to_plan_end": 0.7590989978220138,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30097161059817706,
        "angular_z": -0.1973985492142556
      },
      "ackermann_cmd": {
        "speed": -0.3009715974330902,
        "steering_angle": 0.09351599216461182
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.627471436999258,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.13523394417180779,
        "y": -0.05474954954602973,
        "yaw": -0.8588266372680664,
        "odom_age_sec": 0.029223536,
        "odom_linear_x": 0.09799999743700027,
        "odom_angular_z": -0.254555344581604
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0687756159029,
      "yaw_error_to_goal": 0.8588266372680664,
      "distance_to_plan_end": 2.168067668819774,
      "yaw_error_to_plan_end": 0.7849082858469162,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.27674758064394434,
        "angular_z": 0.2559989515504832
      },
      "ackermann_cmd": {
        "speed": -0.27674758434295654,
        "steering_angle": -0.13151532411575317
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.727219418999084,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.373699840319376,
        "y": 2.983579444727153,
        "yaw": -0.9800140788052407,
        "odom_age_sec": 0.029202578000000003,
        "odom_linear_x": 0.01899999938905239,
        "odom_angular_z": 0.10921522974967957
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.234062266108761,
      "yaw_error_to_goal": 0.9800140788052407,
      "distance_to_plan_end": 3.159482045872036,
      "yaw_error_to_plan_end": 0.9060957273840905,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4159423303126888,
        "angular_z": -0.2797051440831559
      },
      "ackermann_cmd": {
        "speed": 0.41594234108924866,
        "steering_angle": -0.09586720168590546
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.82702352599881,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.373699840319376,
        "y": 2.983579444727153,
        "yaw": -0.9800140788052407,
        "odom_age_sec": 0.029036162,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.234062266108761,
      "yaw_error_to_goal": 0.9800140788052407,
      "distance_to_plan_end": 3.159482045872036,
      "yaw_error_to_plan_end": 0.9060957273840905,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4069403123078107,
        "angular_z": -0.3029579069818147
      },
      "ackermann_cmd": {
        "speed": 0.4069403111934662,
        "steering_angle": -0.10606079548597336
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 20.926987132999784,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.13652749585169266,
        "y": -0.05626372188230344,
        "yaw": -0.8739681243896484,
        "odom_age_sec": 0.029119912,
        "odom_linear_x": 0.03200000151991844,
        "odom_angular_z": -0.29616352915763855
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0690611498008984,
      "yaw_error_to_goal": 0.8739681243896484,
      "distance_to_plan_end": 2.168394059782621,
      "yaw_error_to_plan_end": 0.8000497729684982,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.27674937723308574,
        "angular_z": 0.2559950889445563
      },
      "ackermann_cmd": {
        "speed": -0.2767493724822998,
        "steering_angle": -0.13151250779628754
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.027229197999986,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1380033187477201,
        "y": -0.05804420130264898,
        "yaw": -0.8901405334472656,
        "odom_age_sec": 0.029294536000000003,
        "odom_linear_x": 0.04500000178813934,
        "odom_angular_z": -0.3237232267856598
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0694290741542782,
      "yaw_error_to_goal": 0.8901405334472656,
      "distance_to_plan_end": 2.1688091914347845,
      "yaw_error_to_plan_end": 0.8162221820261154,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2602919308706194,
        "angular_z": -0.28836895374519633
      },
      "ackermann_cmd": {
        "speed": -0.2602919340133667,
        "steering_angle": 0.1571192443370819
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.126983720998396,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.376671557219712,
        "y": 2.979130369726838,
        "yaw": -0.9774840404484597,
        "odom_age_sec": 0.029170828000000003,
        "odom_linear_x": 0.03200000151991844,
        "odom_angular_z": 0.010409880429506302
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.234666273167162,
      "yaw_error_to_goal": 0.9774840404484597,
      "distance_to_plan_end": 3.1602172612975292,
      "yaw_error_to_plan_end": 0.9035656890273096,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3015443217649937,
        "angular_z": -0.19585530940764082
      },
      "ackermann_cmd": {
        "speed": -0.30154430866241455,
        "steering_angle": 0.09261387586593628
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.227073743999426,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1386429513186309,
        "y": -0.05884124345566,
        "yaw": -0.9073820114135742,
        "odom_age_sec": 0.029229578000000003,
        "odom_linear_x": 0.01899999938905239,
        "odom_angular_z": -0.329814612865448
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.069608425836355,
      "yaw_error_to_goal": 0.9073820114135742,
      "distance_to_plan_end": 2.1690093026462103,
      "yaw_error_to_plan_end": 0.833463659992424,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30102970611190755,
        "angular_z": -0.19724233598294746
      },
      "ackermann_cmd": {
        "speed": -0.3010297119617462,
        "steering_angle": 0.0934244841337204
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.327089308999348,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8109867040434637,
        "y": 2.6956921912496976,
        "yaw": -1.1263792981831533,
        "odom_age_sec": 0.029024744,
        "odom_linear_x": -0.013000000268220901,
        "odom_angular_z": 0.0004225735319778323
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2354726003871233,
      "yaw_error_to_goal": 1.1263792981831533,
      "distance_to_plan_end": 1.1269463731956864,
      "yaw_error_to_plan_end": 1.052460946762003,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.27689139790570977,
        "angular_z": 0.25568952235419357
      },
      "ackermann_cmd": {
        "speed": -0.27689141035079956,
        "steering_angle": -0.1312907338142395
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.427315331999125,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.375716870589041,
        "y": 2.98055640496918,
        "yaw": -0.9780303766224709,
        "odom_age_sec": 0.029364703000000002,
        "odom_linear_x": -0.03200000151991844,
        "odom_angular_z": -0.00130999565590173
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2344697846920267,
      "yaw_error_to_goal": 0.9780303766224709,
      "distance_to_plan_end": 3.1599786769421887,
      "yaw_error_to_plan_end": 0.9041120252013208,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30129454124182553,
        "angular_z": -0.1965292696103898
      },
      "ackermann_cmd": {
        "speed": -0.3012945353984833,
        "steering_angle": 0.09300734102725983
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.527008688999558,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.13640611265148062,
        "y": -0.05595501273893366,
        "yaw": -0.9242944717407227,
        "odom_age_sec": 0.029197328,
        "odom_linear_x": -0.07100000232458115,
        "odom_angular_z": -0.33839067816734314
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.06890896157411,
      "yaw_error_to_goal": 0.9242944717407227,
      "distance_to_plan_end": 2.1682357907011887,
      "yaw_error_to_plan_end": 0.8503761203195724,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30100223134770665,
        "angular_z": -0.1973162223208453
      },
      "ackermann_cmd": {
        "speed": -0.30100223422050476,
        "steering_angle": 0.09346775710582733
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.627220086998932,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8067582541918605,
        "y": 2.7045807167480307,
        "yaw": -1.128481864949706,
        "odom_age_sec": 0.029183078,
        "odom_linear_x": -0.11100000143051147,
        "odom_angular_z": -0.02869756892323494
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2430266809992605,
      "yaw_error_to_goal": 1.128481864949706,
      "distance_to_plan_end": 1.1345250522142731,
      "yaw_error_to_plan_end": 1.0545635135285556,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2618410671523144,
        "angular_z": -0.285578219193004
      },
      "ackermann_cmd": {
        "speed": -0.2618410587310791,
        "steering_angle": 0.15471719205379486
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.727165484999205,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12789605122837333,
        "y": -0.044354301710818334,
        "yaw": -0.9618263244628906,
        "odom_age_sec": 0.029147328,
        "odom_linear_x": -0.15000000596046448,
        "odom_angular_z": -0.37982410192489624
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0658411012097226,
      "yaw_error_to_goal": 0.9618263244628906,
      "distance_to_plan_end": 2.1648745788618378,
      "yaw_error_to_plan_end": 0.8879079730417404,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38820198354611046,
        "angular_z": 0.34720169395136496
      },
      "ackermann_cmd": {
        "speed": 0.3882019817829132,
        "steering_angle": 0.12720632553100586
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.827361091998682,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12434693384338802,
        "y": -0.03923078959558235,
        "yaw": -0.9810514450073242,
        "odom_age_sec": 0.029188245,
        "odom_linear_x": -0.12399999797344208,
        "odom_angular_z": -0.39374271035194397
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0643770929907954,
      "yaw_error_to_goal": 0.9810514450073242,
      "distance_to_plan_end": 2.163282687296638,
      "yaw_error_to_plan_end": 0.907133093586174,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.301477082396233,
        "angular_z": -0.1960368716944312
      },
      "ackermann_cmd": {
        "speed": -0.3014770746231079,
        "steering_angle": 0.09271979331970215
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 21.926983364999614,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11785139707687531,
        "y": -0.029269878928267268,
        "yaw": -1.022934913635254,
        "odom_age_sec": 0.02913862,
        "odom_linear_x": -0.10400000214576721,
        "odom_angular_z": -0.4259685277938843
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.06131053535357,
      "yaw_error_to_goal": 1.022934913635254,
      "distance_to_plan_end": 2.1599711817782845,
      "yaw_error_to_plan_end": 0.9490165622141037,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.38956682353729705,
        "angular_z": 0.34416881414167194
      },
      "ackermann_cmd": {
        "speed": 0.3895668089389801,
        "steering_angle": 0.12566977739334106
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.02721497099992,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1149518673520733,
        "y": -0.024412834167789832,
        "yaw": -1.067234992980957,
        "odom_age_sec": 0.029174953000000003,
        "odom_linear_x": -0.039000000804662704,
        "odom_angular_z": -0.44601064920425415
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.05965842282816,
      "yaw_error_to_goal": 1.067234992980957,
      "distance_to_plan_end": 2.1582026413228013,
      "yaw_error_to_plan_end": 0.9933166415598068,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.39099040944129665,
        "angular_z": 0.34097363556460425
      },
      "ackermann_cmd": {
        "speed": 0.39099040627479553,
        "steering_angle": 0.12406646460294724
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.127258702999825,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1157540129564687,
        "y": -0.02587282925777301,
        "yaw": -1.0875215530395508,
        "odom_age_sec": 0.029118077000000003,
        "odom_linear_x": 0.03200000151991844,
        "odom_angular_z": -0.4013445973396301
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0602001950570825,
      "yaw_error_to_goal": 1.0875215530395508,
      "distance_to_plan_end": 2.15877837588732,
      "yaw_error_to_plan_end": 1.0136032016184005,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.39123999337310655,
        "angular_z": 0.3404101141757184
      },
      "ackermann_cmd": {
        "speed": 0.3912400007247925,
        "steering_angle": 0.12378530204296112
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.226930600998458,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8114529830059103,
        "y": 2.694668756847842,
        "yaw": -1.1341220080126253,
        "odom_age_sec": 0.029064620000000003,
        "odom_linear_x": 0.07100000232458115,
        "odom_angular_z": -0.037607595324516296
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2345996918886897,
      "yaw_error_to_goal": 1.1341220080126253,
      "distance_to_plan_end": 1.126070882953836,
      "yaw_error_to_plan_end": 1.060203656591475,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30151691648754597,
        "angular_z": -0.19592932230398646
      },
      "ackermann_cmd": {
        "speed": -0.30151692032814026,
        "steering_angle": 0.09265704452991486
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.32729554099933,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.374098033071721,
        "y": 2.9829749195500646,
        "yaw": -0.9774747421238748,
        "odom_age_sec": 0.029134369,
        "odom_linear_x": 0.09099999815225601,
        "odom_angular_z": 0.014815900474786758
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2341388522636527,
      "yaw_error_to_goal": 0.9774747421238748,
      "distance_to_plan_end": 3.1595763894820577,
      "yaw_error_to_plan_end": 0.9035563907027245,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.26035169076153797,
        "angular_z": -0.28826228657513514
      },
      "ackermann_cmd": {
        "speed": -0.26035168766975403,
        "steering_angle": 0.15702661871910095
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.42740439699992,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.3755409337232525,
        "y": 2.980822158982505,
        "yaw": -0.9763854225371209,
        "odom_age_sec": 0.029360828000000002,
        "odom_linear_x": 0.052000001072883606,
        "odom_angular_z": 0.022503558546304703
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.234435024552449,
      "yaw_error_to_goal": 0.9763854225371209,
      "distance_to_plan_end": 3.159936095412768,
      "yaw_error_to_plan_end": 0.9024670711159707,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3938020823399959,
        "angular_z": 0.3345676889174482
      },
      "ackermann_cmd": {
        "speed": 0.39380207657814026,
        "steering_angle": 0.12089792639017105
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.527409712000008,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.37630349614826,
        "y": 2.979687049347521,
        "yaw": -0.9751199563238946,
        "odom_age_sec": 0.029316953000000003,
        "odom_linear_x": 0.026000000536441803,
        "odom_angular_z": 0.02477148175239563
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2345935704445896,
      "yaw_error_to_goal": 0.9751199563238946,
      "distance_to_plan_end": 3.160128174821436,
      "yaw_error_to_plan_end": 0.9012016049027444,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.39457066794264645,
        "angular_z": 0.33279457576493654
      },
      "ackermann_cmd": {
        "speed": 0.3945706784725189,
        "steering_angle": 0.12003136426210403
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.627185900999393,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.37630349614826,
        "y": 2.979687049347521,
        "yaw": -0.9751199563238946,
        "odom_age_sec": 0.029172828,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2345935704445896,
      "yaw_error_to_goal": 0.9751199563238946,
      "distance_to_plan_end": 3.160128174821436,
      "yaw_error_to_plan_end": 0.9012016049027444,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3939147500849204,
        "angular_z": 0.33430835766395933
      },
      "ackermann_cmd": {
        "speed": 0.39391475915908813,
        "steering_angle": 0.1207709088921547
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.727249173998644,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11859277531343215,
        "y": -0.03142846693320589,
        "yaw": -1.1414127349853516,
        "odom_age_sec": 0.029301161000000003,
        "odom_linear_x": 0.013000000268220901,
        "odom_angular_z": -0.35914430022239685
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0624158333734823,
      "yaw_error_to_goal": 1.1414127349853516,
      "distance_to_plan_end": 2.161119148270427,
      "yaw_error_to_plan_end": 1.0674943835642012,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.39390586356976,
        "angular_z": 0.33432881944193293
      },
      "ackermann_cmd": {
        "speed": 0.3939058780670166,
        "steering_angle": 0.12078092247247696
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.827156988998468,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11913714922398677,
        "y": -0.03261659476160195,
        "yaw": -1.1590948104858398,
        "odom_age_sec": 0.029062869,
        "odom_linear_x": 0.026000000536441803,
        "odom_angular_z": -0.3623642921447754
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0629337941853363,
      "yaw_error_to_goal": 1.1590948104858398,
      "distance_to_plan_end": 2.1616627296998363,
      "yaw_error_to_plan_end": 1.0851764590646895,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30156589928510896,
        "angular_z": -0.19579702367780827
      },
      "ackermann_cmd": {
        "speed": -0.30156588554382324,
        "steering_angle": 0.09257987886667252
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 22.92715872000008,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12017253997683497,
        "y": -0.03498389318867878,
        "yaw": -1.1758575439453125,
        "odom_age_sec": 0.029137869,
        "odom_linear_x": 0.052000001072883606,
        "odom_angular_z": -0.34745728969573975
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0640008168076514,
      "yaw_error_to_goal": 1.1758575439453125,
      "distance_to_plan_end": 2.162779877535035,
      "yaw_error_to_plan_end": 1.1019391925241622,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3016011519180308,
        "angular_z": -0.1957017761356444
      },
      "ackermann_cmd": {
        "speed": -0.3016011416912079,
        "steering_angle": 0.09252434968948364
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.028588993000085,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8193320115347054,
        "y": 2.677806930760312,
        "yaw": -1.129800904795545,
        "odom_age_sec": 0.029579953000000003,
        "odom_linear_x": 0.06499999761581421,
        "odom_angular_z": 0.031134283170104027
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2203286851245558,
      "yaw_error_to_goal": 1.129800904795545,
      "distance_to_plan_end": 1.1117620315960701,
      "yaw_error_to_plan_end": 1.0558825533743947,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.25929815555887376,
        "angular_z": -0.2901311391662295
      },
      "ackermann_cmd": {
        "speed": -0.2592981457710266,
        "steering_angle": 0.1586592048406601
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.127326848998564,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8203019264903404,
        "y": 2.6757522773912954,
        "yaw": -1.1279829973560003,
        "odom_age_sec": 0.029104245,
        "odom_linear_x": 0.04500000178813934,
        "odom_angular_z": 0.03708517923951149
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2186003208206706,
      "yaw_error_to_goal": 1.1279829973560003,
      "distance_to_plan_end": 1.1100297475806828,
      "yaw_error_to_plan_end": 1.05406464593485,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30137179125716224,
        "angular_z": -0.1963209809669759
      },
      "ackermann_cmd": {
        "speed": -0.3013717830181122,
        "steering_angle": 0.09288565069437027
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.227597580998918,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.380717710840498,
        "y": 2.973150488739485,
        "yaw": -0.9705388327334252,
        "odom_age_sec": 0.029282786,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2355381147536346,
      "yaw_error_to_goal": 0.9705388327334252,
      "distance_to_plan_end": 3.161266264071023,
      "yaw_error_to_plan_end": 0.896620481312275,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3013835472707098,
        "angular_z": -0.19628927168865948
      },
      "ackermann_cmd": {
        "speed": -0.3013835549354553,
        "steering_angle": 0.09286713600158691
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.32764947799842,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12005345587004301,
        "y": -0.0346989052090807,
        "yaw": -1.1758575439453125,
        "odom_age_sec": 0.029250328000000003,
        "odom_linear_x": -0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.063868502183742,
      "yaw_error_to_goal": 1.1758575439453125,
      "distance_to_plan_end": 2.1626416270149385,
      "yaw_error_to_plan_end": 1.1019391925241622,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3010812380870687,
        "angular_z": -0.19710370870336202
      },
      "ackermann_cmd": {
        "speed": -0.30108124017715454,
        "steering_angle": 0.09334331750869751
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.4274184599999,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.378277414078483,
        "y": 2.9767347231552828,
        "yaw": -0.969979040810856,
        "odom_age_sec": 0.029216119000000002,
        "odom_linear_x": -0.04500000178813934,
        "odom_angular_z": -0.0010999966179952025
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2350002032406167,
      "yaw_error_to_goal": 0.969979040810856,
      "distance_to_plan_end": 3.160621966815482,
      "yaw_error_to_plan_end": 0.8960606893897057,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4160444076494073,
        "angular_z": -0.2794340375068595
      },
      "ackermann_cmd": {
        "speed": 0.4160444140434265,
        "steering_angle": -0.09575149416923523
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.527536940999198,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.377004860614481,
        "y": 2.978603498339645,
        "yaw": -0.9702154477331963,
        "odom_age_sec": 0.029615953,
        "odom_linear_x": -0.04500000178813934,
        "odom_angular_z": -0.0048441714607179165
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.234721823171444,
      "yaw_error_to_goal": 0.9702154477331963,
      "distance_to_plan_end": 3.1602881538704937,
      "yaw_error_to_plan_end": 0.8962970963120461,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.28141493458164996,
        "angular_z": 0.24572234493110728
      },
      "ackermann_cmd": {
        "speed": -0.2814149260520935,
        "steering_angle": -0.12422003597021103
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.627028129998507,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8190049178195709,
        "y": 2.6784812152356645,
        "yaw": -1.1251660554176373,
        "odom_age_sec": 0.029215786,
        "odom_linear_x": -0.03200000151991844,
        "odom_angular_z": 0.024978533387184143
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.220893980760164,
      "yaw_error_to_goal": 1.1251660554176373,
      "distance_to_plan_end": 1.1123286722214145,
      "yaw_error_to_plan_end": 1.051247703996487,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4160679114454829,
        "angular_z": -0.2793715903050821
      },
      "ackermann_cmd": {
        "speed": 0.416067898273468,
        "steering_angle": -0.09572485089302063
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.727118236000024,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.37738229200367,
        "y": 2.9780487645103526,
        "yaw": -0.9703518529627648,
        "odom_age_sec": 0.029258245000000002,
        "odom_linear_x": 0.013000000268220901,
        "odom_angular_z": -0.0027210607659071684
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.234804013322426,
      "yaw_error_to_goal": 0.9703518529627648,
      "distance_to_plan_end": 3.160386792701454,
      "yaw_error_to_plan_end": 0.8964335015416146,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2811168032423803,
        "angular_z": 0.24639324557824158
      },
      "ackermann_cmd": {
        "speed": -0.2811168134212494,
        "steering_angle": -0.12468643486499786
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.82715625899982,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8210315723003048,
        "y": 2.674243833374482,
        "yaw": -1.1239974049590704,
        "odom_age_sec": 0.029299244000000002,
        "odom_linear_x": 0.026000000536441803,
        "odom_angular_z": 0.0035892953164875507
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2173371967666164,
      "yaw_error_to_goal": 1.1239974049590704,
      "distance_to_plan_end": 1.10876380669204,
      "yaw_error_to_plan_end": 1.05007905353792,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.41573248831421106,
        "angular_z": -0.2802619385374392
      },
      "ackermann_cmd": {
        "speed": 0.4157325029373169,
        "steering_angle": -0.09610505402088165
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 23.927162531999784,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12037009026787127,
        "y": -0.0356172585175889,
        "yaw": -1.211543083190918,
        "odom_age_sec": 0.029260578000000002,
        "odom_linear_x": 0.06499999761581421,
        "odom_angular_z": -0.3681482672691345
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.064339858764675,
      "yaw_error_to_goal": 1.211543083190918,
      "distance_to_plan_end": 2.1631310264248858,
      "yaw_error_to_plan_end": 1.1376247317697676,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4017858728827731,
        "angular_z": -0.31568839034571705
      },
      "ackermann_cmd": {
        "speed": 0.40178588032722473,
        "steering_angle": -0.11188770830631256
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.0272380539991,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.38184925256853,
        "y": 2.971480650076775,
        "yaw": -0.9714880367014733,
        "odom_age_sec": 0.029332661000000003,
        "odom_linear_x": 0.11699999868869781,
        "odom_angular_z": -0.01715952344238758
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2357859042402923,
      "yaw_error_to_goal": 0.9714880367014733,
      "distance_to_plan_end": 3.1615635903927135,
      "yaw_error_to_plan_end": 0.8975696852803231,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.28281748223658215,
        "angular_z": 0.2425396149614457
      },
      "ackermann_cmd": {
        "speed": -0.2828174829483032,
        "steering_angle": -0.12202516198158264
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.127146368999092,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1254989116176204,
        "y": -0.049602438540155225,
        "yaw": -1.2520742416381836,
        "odom_age_sec": 0.029163703000000003,
        "odom_linear_x": 0.14300000667572021,
        "odom_angular_z": -0.4225735664367676
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0713572747099764,
      "yaw_error_to_goal": 1.2520742416381836,
      "distance_to_plan_end": 2.170425123937272,
      "yaw_error_to_plan_end": 1.1781558902170333,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2830318677806715,
        "angular_z": 0.24204926912918018
      },
      "ackermann_cmd": {
        "speed": -0.2830318808555603,
        "steering_angle": -0.1216895580291748
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.22715589099971,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.385605074720642,
        "y": 2.9659472249937195,
        "yaw": -0.9727760632727471,
        "odom_age_sec": 0.029298828000000002,
        "odom_linear_x": 0.12999999523162842,
        "odom_angular_z": -0.0257769413292408
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.236621373240977,
      "yaw_error_to_goal": 0.9727760632727471,
      "distance_to_plan_end": 3.1625634259758377,
      "yaw_error_to_plan_end": 0.8988577118515969,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2850440662699523,
        "angular_z": 0.2373971571274873
      },
      "ackermann_cmd": {
        "speed": -0.2850440740585327,
        "steering_angle": -0.11853830516338348
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.327262663999136,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12918113459584424,
        "y": -0.06100052455028293,
        "yaw": -1.3003549575805664,
        "odom_age_sec": 0.029300286000000002,
        "odom_linear_x": 0.08500000089406967,
        "odom_angular_z": -0.4814292788505554
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.077466485745124,
      "yaw_error_to_goal": 1.3003549575805664,
      "distance_to_plan_end": 2.1767478659838813,
      "yaw_error_to_plan_end": 1.226436606159416,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4131306445132941,
        "angular_z": -0.28710714256541814
      },
      "ackermann_cmd": {
        "speed": 0.41313064098358154,
        "steering_angle": -0.09905330836772919
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.427241936999053,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8276131309741794,
        "y": 2.6604957371988447,
        "yaw": -1.1270195997990844,
        "odom_age_sec": 0.029273661000000003,
        "odom_linear_x": 0.07800000160932541,
        "odom_angular_z": -0.04173215478658676
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2058526940067742,
      "yaw_error_to_goal": 1.1270195997990844,
      "distance_to_plan_end": 1.0972580315757428,
      "yaw_error_to_plan_end": 1.053101248377934,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2870651612742,
        "angular_z": 0.23263390268143938
      },
      "ackermann_cmd": {
        "speed": -0.28706514835357666,
        "steering_angle": -0.1153707355260849
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.527039375998356,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.831501578512161,
        "y": 2.6522839401739158,
        "yaw": -1.136622567215952,
        "odom_age_sec": 0.029199370000000002,
        "odom_linear_x": 0.04500000178813934,
        "odom_angular_z": -0.06951545923948288
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1990210904478615,
      "yaw_error_to_goal": 1.136622567215952,
      "distance_to_plan_end": 1.0904175388220636,
      "yaw_error_to_plan_end": 1.0627042157948017,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2549148404051478,
        "angular_z": -0.29764185207856925
      },
      "ackermann_cmd": {
        "speed": -0.2549148499965668,
        "steering_angle": 0.16544248163700104
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.62698035699941,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1303382669868114,
        "y": -0.06512190284321284,
        "yaw": -1.323481559753418,
        "odom_age_sec": 0.029128161000000003,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.079802835280366,
      "yaw_error_to_goal": 1.323481559753418,
      "distance_to_plan_end": 2.1791578246115533,
      "yaw_error_to_plan_end": 1.2495632083322676,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.25549887692225637,
        "angular_z": -0.2966657731497554
      },
      "ackermann_cmd": {
        "speed": -0.25549888610839844,
        "steering_angle": 0.16453954577445984
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.727203712998744,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8317929175451848,
        "y": 2.651660966200944,
        "yaw": -1.1421320219729272,
        "odom_age_sec": 0.029319578000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1985030334563351,
      "yaw_error_to_goal": 1.1421320219729272,
      "distance_to_plan_end": 1.0898989288930734,
      "yaw_error_to_plan_end": 1.0682136705517769,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2559878630823283,
        "angular_z": -0.2958427184909036
      },
      "ackermann_cmd": {
        "speed": -0.25598785281181335,
        "steering_angle": 0.16378334164619446
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.826975317999313,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8317929175451848,
        "y": 2.651660966200944,
        "yaw": -1.1421320219729272,
        "odom_age_sec": 0.029147161,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1985030334563351,
      "yaw_error_to_goal": 1.1421320219729272,
      "distance_to_plan_end": 1.0898989288930734,
      "yaw_error_to_plan_end": 1.0682136705517769,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.25569366510384745,
        "angular_z": -0.29633854514607316
      },
      "ackermann_cmd": {
        "speed": -0.2556936740875244,
        "steering_angle": 0.1642383337020874
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 24.926925798999946,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1301648267533122,
        "y": -0.06444540104199392,
        "yaw": -1.345841407775879,
        "odom_age_sec": 0.029137953,
        "odom_linear_x": -0.013000000268220901,
        "odom_angular_z": -0.42833083868026733
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.079408044301365,
      "yaw_error_to_goal": 1.345841407775879,
      "distance_to_plan_end": 2.1787512397669047,
      "yaw_error_to_plan_end": 1.2719230563547286,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.25569366510384745,
        "angular_z": -0.29633854514607316
      },
      "ackermann_cmd": {
        "speed": -0.2556936740875244,
        "steering_angle": 0.1642383337020874
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.026949987999615,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12916338991326848,
        "y": -0.059918467070936066,
        "yaw": -1.3853225708007812,
        "odom_age_sec": 0.029202995000000002,
        "odom_linear_x": -0.052000001072883606,
        "odom_angular_z": -0.3892673850059509
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0766652680350344,
      "yaw_error_to_goal": 1.3853225708007812,
      "distance_to_plan_end": 2.1759317450618685,
      "yaw_error_to_plan_end": 1.311404219379631,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4108054640319554,
        "angular_z": 0.29313282189973994
      },
      "ackermann_cmd": {
        "speed": 0.41080546379089355,
        "steering_angle": 0.10168660432100296
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.12693905299966,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.384479780147952,
        "y": 2.967609473737971,
        "yaw": -0.9774174471590844,
        "odom_age_sec": 0.029148328,
        "odom_linear_x": -0.013000000268220901,
        "odom_angular_z": -0.03094739466905594
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.236371605592878,
      "yaw_error_to_goal": 0.9774174471590844,
      "distance_to_plan_end": 3.162264291395161,
      "yaw_error_to_plan_end": 0.9034990957379343,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.25713227758829016,
        "angular_z": -0.2938956861560328
      },
      "ackermann_cmd": {
        "speed": -0.25713229179382324,
        "steering_angle": 0.16201283037662506
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.22693265899943,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8289275815533337,
        "y": 2.657925952416159,
        "yaw": -1.1431443770621148,
        "odom_age_sec": 0.029167536,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.20373828766281,
      "yaw_error_to_goal": 1.1431443770621148,
      "distance_to_plan_end": 1.0951403899054637,
      "yaw_error_to_plan_end": 1.0692260256409645,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2568465471447352,
        "angular_z": -0.2943845354659109
      },
      "ackermann_cmd": {
        "speed": -0.25684654712677,
        "steering_angle": 0.1624549776315689
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.327053430999513,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1287965789048111,
        "y": -0.058014775801606744,
        "yaw": -1.4034547805786133,
        "odom_age_sec": 0.029154870000000003,
        "odom_linear_x": -0.026000000536441803,
        "odom_angular_z": -0.37077099084854126
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.075477984378365,
      "yaw_error_to_goal": 1.4034547805786133,
      "distance_to_plan_end": 2.1747129040494366,
      "yaw_error_to_plan_end": 1.329536429157463,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4109864042018144,
        "angular_z": 0.2926670212973602
      },
      "ackermann_cmd": {
        "speed": 0.41098639369010925,
        "steering_angle": 0.10148174315690994
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.426902952998717,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.38353433857197,
        "y": 2.969020500672542,
        "yaw": -0.9783535977099267,
        "odom_age_sec": 0.029111911,
        "odom_linear_x": -0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2361692652146448,
      "yaw_error_to_goal": 0.9783535977099267,
      "distance_to_plan_end": 3.1620201684117784,
      "yaw_error_to_plan_end": 0.9044352462887765,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.301589859239129,
        "angular_z": -0.19573229033565312
      },
      "ackermann_cmd": {
        "speed": -0.30158984661102295,
        "steering_angle": 0.0925421342253685
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.527130766999107,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.383363109590499,
        "y": 2.9692763493085605,
        "yaw": -0.9783535977099267,
        "odom_age_sec": 0.029228328,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2361328483832184,
      "yaw_error_to_goal": 0.9783535977099267,
      "distance_to_plan_end": 3.161976179287488,
      "yaw_error_to_plan_end": 0.9044352462887765,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30105617710003374,
        "angular_z": -0.1971711331769474
      },
      "ackermann_cmd": {
        "speed": -0.3010561764240265,
        "steering_angle": 0.09338279068470001
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.62768708099975,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12857777819624072,
        "y": -0.05675796436417602,
        "yaw": -1.4213018417358398,
        "odom_age_sec": 0.029271036,
        "odom_linear_x": -0.01899999938905239,
        "odom_angular_z": -0.36575356125831604
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0746793174050904,
      "yaw_error_to_goal": 1.4213018417358398,
      "distance_to_plan_end": 2.1738937237520086,
      "yaw_error_to_plan_end": 1.3473834903146895,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.28926117400379203,
        "angular_z": 0.22735550950347858
      },
      "ackermann_cmd": {
        "speed": -0.2892611622810364,
        "steering_angle": -0.11192639172077179
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.727099728999747,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8238990121783247,
        "y": 2.668960061756794,
        "yaw": -1.145272659624013,
        "odom_age_sec": 0.029236745,
        "odom_linear_x": -0.07800000160932541,
        "odom_angular_z": -0.02073596604168415
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.2130037906257929,
      "yaw_error_to_goal": 1.145272659624013,
      "distance_to_plan_end": 1.1044205956555113,
      "yaw_error_to_plan_end": 1.0713543082028627,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.258483515074546,
        "angular_z": -0.29155930957270565
      },
      "ackermann_cmd": {
        "speed": -0.25848352909088135,
        "steering_angle": 0.15992100536823273
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.82732262599893,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1269219798642296,
        "y": -0.045389039294590594,
        "yaw": -1.4586296081542969,
        "odom_age_sec": 0.029281244,
        "odom_linear_x": -0.12399999797344208,
        "odom_angular_z": -0.37025657296180725
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.067261602253528,
      "yaw_error_to_goal": 1.4586296081542969,
      "distance_to_plan_end": 2.166293901734924,
      "yaw_error_to_plan_end": 1.3847112567331465,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.415629111567678,
        "angular_z": 0.28053597921041334
      },
      "ackermann_cmd": {
        "speed": 0.415629118680954,
        "steering_angle": 0.09622222930192947
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 25.927134980998744,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12549533911537036,
        "y": -0.03238171295477521,
        "yaw": -1.495682716369629,
        "odom_age_sec": 0.029036411,
        "odom_linear_x": -0.12399999797344208,
        "odom_angular_z": -0.369490385055542
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.058508386427362,
      "yaw_error_to_goal": 1.495682716369629,
      "distance_to_plan_end": 2.1573361961758795,
      "yaw_error_to_plan_end": 1.4217643649484786,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.41782266610580865,
        "angular_z": 0.2746844219291062
      },
      "ackermann_cmd": {
        "speed": 0.4178226590156555,
        "steering_angle": 0.09373537451028824
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.02713846199913,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12502118239917115,
        "y": -0.026064389204557115,
        "yaw": -1.5336017608642578,
        "odom_age_sec": 0.029269286000000002,
        "odom_linear_x": -0.04500000178813934,
        "odom_angular_z": -0.3832826018333435
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.054127374056743,
      "yaw_error_to_goal": 1.5336017608642578,
      "distance_to_plan_end": 2.152858031188873,
      "yaw_error_to_plan_end": 1.4596834094431075,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4204777966876637,
        "angular_z": 0.26749856669215677
      },
      "ackermann_cmd": {
        "speed": 0.42047780752182007,
        "steering_angle": 0.0907236710190773
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.127146525999706,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.383534747953215,
        "y": 2.969019639335385,
        "yaw": -0.9783535977099267,
        "odom_age_sec": 0.029261828,
        "odom_linear_x": 0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.236169238993331,
      "yaw_error_to_goal": 0.9783535977099267,
      "distance_to_plan_end": 3.1620201658483977,
      "yaw_error_to_plan_end": 0.9044352462887765,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4208982227229408,
        "angular_z": 0.2663503797611209
      },
      "ackermann_cmd": {
        "speed": 0.4208982288837433,
        "steering_angle": 0.09024663269519806
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.2270858819993,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12518367035733968,
        "y": -0.031123900212810307,
        "yaw": -1.5706443786621094,
        "odom_age_sec": 0.029093869,
        "odom_linear_x": 0.06499999761581421,
        "odom_angular_z": -0.3675488233566284
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0577804397104673,
      "yaw_error_to_goal": 1.5706443786621094,
      "distance_to_plan_end": 2.156585480696921,
      "yaw_error_to_plan_end": 1.496726027240959,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.42390087241509883,
        "angular_z": 0.2580678925861401
      },
      "ackermann_cmd": {
        "speed": 0.42390087246894836,
        "steering_angle": 0.08683846145868301
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.327245070999197,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.1251695397441117,
        "y": -0.03942584693219975,
        "yaw": -1.603719711303711,
        "odom_age_sec": 0.029226161,
        "odom_linear_x": 0.09099999815225601,
        "odom_angular_z": -0.32264527678489685
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.063974499031017,
      "yaw_error_to_goal": 1.603719711303711,
      "distance_to_plan_end": 2.1628959672921666,
      "yaw_error_to_plan_end": 1.5298013598825606,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4273971383810485,
        "angular_z": 0.24824204235372113
      },
      "ackermann_cmd": {
        "speed": 0.42739713191986084,
        "steering_angle": 0.08286746591329575
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.42984905099911,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12474299671236233,
        "y": -0.05215589551953537,
        "yaw": -1.6343822479248047,
        "odom_age_sec": 0.030499286,
        "odom_linear_x": 0.13699999451637268,
        "odom_angular_z": -0.30074620246887207
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0737694541794527,
      "yaw_error_to_goal": 1.6343822479248047,
      "distance_to_plan_end": 2.1728604356428587,
      "yaw_error_to_plan_end": 1.5604638965036544,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4308112271052912,
        "angular_z": 0.2384584012214306
      },
      "ackermann_cmd": {
        "speed": 0.43081122636795044,
        "steering_angle": 0.07898727804422379
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.52787215599892,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8313186226483573,
        "y": 2.6525713700309557,
        "yaw": -1.145483173916134,
        "odom_age_sec": 0.029877703000000002,
        "odom_linear_x": 0.18299999833106995,
        "odom_angular_z": 0.02494523674249649
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1992467605662476,
      "yaw_error_to_goal": 1.145483173916134,
      "distance_to_plan_end": 1.0906435284304994,
      "yaw_error_to_plan_end": 1.0715648224949836,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.2570701874890752,
        "angular_z": -0.2940020688933201
      },
      "ackermann_cmd": {
        "speed": -0.2570701837539673,
        "steering_angle": 0.162108913064003
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.62957121999898,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12279925742007736,
        "y": -0.08230996153286707,
        "yaw": -1.676316261291504,
        "odom_age_sec": 0.029582786000000003,
        "odom_linear_x": 0.1889999955892563,
        "odom_angular_z": -0.27455276250839233
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.0977098702463204,
      "yaw_error_to_goal": 1.676316261291504,
      "distance_to_plan_end": 2.197176154883386,
      "yaw_error_to_plan_end": 1.6023979098703536,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4362397857677005,
        "angular_z": 0.2225179375776082
      },
      "ackermann_cmd": {
        "speed": 0.4362397789955139,
        "steering_angle": 0.07281273603439331
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.7272783669996,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8354854427494391,
        "y": 2.643380995968722,
        "yaw": -1.1426218110341755,
        "odom_age_sec": 0.029295952,
        "odom_linear_x": 0.19599999487400055,
        "odom_angular_z": 0.05724477395415306
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1915832258970471,
      "yaw_error_to_goal": 1.1426218110341755,
      "distance_to_plan_end": 1.0829734802403903,
      "yaw_error_to_plan_end": 1.0687034596130252,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3016963316057854,
        "angular_z": -0.1954444763743856
      },
      "ackermann_cmd": {
        "speed": -0.3016963303089142,
        "steering_angle": 0.09237440675497055
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.827434722999897,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8440319677053323,
        "y": 2.624766969365968,
        "yaw": -1.1346706454847184,
        "odom_age_sec": 0.029404452,
        "odom_linear_x": 0.1889999955892563,
        "odom_angular_z": 0.07512217015028
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.176205224516499,
      "yaw_error_to_goal": 1.1346706454847184,
      "distance_to_plan_end": 1.0675934663174464,
      "yaw_error_to_plan_end": 1.060752294063568,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.35319320594561243,
        "angular_z": -0.4148092979733313
      },
      "ackermann_cmd": {
        "speed": 0.3531931936740875,
        "steering_angle": -0.16639411449432373
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 26.927345077998325,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.12107422299626824,
        "y": -0.09880404094256146,
        "yaw": -1.7074737548828125,
        "odom_age_sec": 0.029377952000000002,
        "odom_linear_x": 0.15700000524520874,
        "odom_angular_z": -0.3159599006175995
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.111305439726713,
      "yaw_error_to_goal": 1.7074737548828125,
      "distance_to_plan_end": 2.210960370102284,
      "yaw_error_to_plan_end": 1.6335554034616622,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4398609669023016,
        "angular_z": 0.21162250597538518
      },
      "ackermann_cmd": {
        "speed": 0.4398609697818756,
        "steering_angle": 0.06869081407785416
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.02745959999993,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8477254054658885,
        "y": 2.616845122443694,
        "yaw": -1.1312246159855452,
        "odom_age_sec": 0.029281578000000003,
        "odom_linear_x": 0.17599999904632568,
        "odom_angular_z": 0.07147110998630524
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1697247475935038,
      "yaw_error_to_goal": 1.1312246159855452,
      "distance_to_plan_end": 1.061117024882055,
      "yaw_error_to_plan_end": 1.057306264564395,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4439821746830859,
        "angular_z": 0.19896732724176616
      },
      "ackermann_cmd": {
        "speed": 0.44398218393325806,
        "steering_angle": 0.06399688124656677
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.127284413998495,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11846795307942948,
        "y": -0.11762789250166894,
        "yaw": -1.7427597045898438,
        "odom_age_sec": 0.029230036,
        "odom_linear_x": 0.2150000035762787,
        "odom_angular_z": -0.3623916506767273
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.12728719153478,
      "yaw_error_to_goal": 1.7427597045898438,
      "distance_to_plan_end": 2.2271426599499895,
      "yaw_error_to_plan_end": 1.6688413531686934,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30128158376512976,
        "angular_z": -0.19656419377135348
      },
      "ackermann_cmd": {
        "speed": -0.30128157138824463,
        "steering_angle": 0.0930277481675148
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.227006852999693,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11471142817294133,
        "y": -0.13929188080848154,
        "yaw": -1.779250144958496,
        "odom_age_sec": 0.029171911000000002,
        "odom_linear_x": 0.20900000631809235,
        "odom_angular_z": -0.3594971001148224
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.146229786793404,
      "yaw_error_to_goal": 1.779250144958496,
      "distance_to_plan_end": 2.246298569678122,
      "yaw_error_to_plan_end": 1.7053317935373458,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.31273725105698563,
        "angular_z": 0.1642313575759418
      },
      "ackermann_cmd": {
        "speed": -0.31273725628852844,
        "steering_angle": -0.0749545693397522
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.327373374999297,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11149559515251628,
        "y": -0.15461657917674443,
        "yaw": -1.8170843124389648,
        "odom_age_sec": 0.028520203,
        "odom_linear_x": 0.12999999523162842,
        "odom_angular_z": -0.3865058422088623
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1600232652375335,
      "yaw_error_to_goal": 1.8170843124389648,
      "distance_to_plan_end": 2.2602310499105562,
      "yaw_error_to_plan_end": 1.7431659610178145,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3157921395759735,
        "angular_z": 0.15511660921532577
      },
      "ackermann_cmd": {
        "speed": -0.31579214334487915,
        "steering_angle": -0.07012619823217392
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.427177771998686,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.405734363987276,
        "y": 2.93575646528864,
        "yaw": -0.9854750116560784,
        "odom_age_sec": 0.029341578,
        "odom_linear_x": 0.052000001072883606,
        "odom_angular_z": -0.035103876143693924
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2410937693431006,
      "yaw_error_to_goal": 0.9854750116560784,
      "distance_to_plan_end": 3.1679325421848263,
      "yaw_error_to_plan_end": 0.9115566602349282,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4161707433891343,
        "angular_z": -0.2790982723320198
      },
      "ackermann_cmd": {
        "speed": 0.41617074608802795,
        "steering_angle": -0.09560828655958176
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.527331126999343,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11134711462284441,
        "y": -0.15523226349912367,
        "yaw": -1.835453987121582,
        "odom_age_sec": 0.029342578,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.16059035501752,
      "yaw_error_to_goal": 1.835453987121582,
      "distance_to_plan_end": 2.2608033829213605,
      "yaw_error_to_plan_end": 1.7615356357004317,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3184227149169451,
        "angular_z": 0.14710168883357913
      },
      "ackermann_cmd": {
        "speed": -0.31842270493507385,
        "steering_angle": -0.06596583873033524
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.627248731998407,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.4055602095664455,
        "y": 2.936020690674606,
        "yaw": -0.9854750116560784,
        "odom_age_sec": 0.029296494000000003,
        "odom_linear_x": -0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2410546980051693,
      "yaw_error_to_goal": 0.9854750116560784,
      "distance_to_plan_end": 3.167885616666327,
      "yaw_error_to_plan_end": 0.9115566602349282,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.41615932022369145,
        "angular_z": -0.27912864242240604
      },
      "ackermann_cmd": {
        "speed": 0.41615933179855347,
        "steering_angle": -0.09562123566865921
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.726983336999183,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.4055602095664455,
        "y": 2.936020690674606,
        "yaw": -0.9854750116560784,
        "odom_age_sec": 0.029207578,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2410546980051693,
      "yaw_error_to_goal": 0.9854750116560784,
      "distance_to_plan_end": 3.167885616666327,
      "yaw_error_to_plan_end": 0.9115566602349282,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.433157152937651,
        "angular_z": -0.23162765862219142
      },
      "ackermann_cmd": {
        "speed": 0.43315714597702026,
        "steering_angle": -0.07631969451904297
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.82711131799988,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.11062548293589325,
        "y": -0.1578472995329221,
        "yaw": -1.8731927871704102,
        "odom_age_sec": 0.02924312,
        "odom_linear_x": 0.039000000804662704,
        "odom_angular_z": -0.3666524291038513
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1630578395493085,
      "yaw_error_to_goal": 1.8731927871704102,
      "distance_to_plan_end": 2.2632917610929746,
      "yaw_error_to_plan_end": 1.7992744357492598,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3197166463834739,
        "angular_z": 0.14310287470394778
      },
      "ackermann_cmd": {
        "speed": -0.3197166323661804,
        "steering_angle": -0.0639185830950737
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 27.927175005999743,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.10958988924024515,
        "y": -0.16128469998530504,
        "yaw": -1.891432762145996,
        "odom_age_sec": 0.079209443,
        "odom_linear_x": 0.07100000232458115,
        "odom_angular_z": -0.3682546615600586
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1663580337765542,
      "yaw_error_to_goal": 1.891432762145996,
      "distance_to_plan_end": 2.2666180427131235,
      "yaw_error_to_plan_end": 1.8175144107248458,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.32252574458588584,
        "angular_z": 0.13429346811376475
      },
      "ackermann_cmd": {
        "speed": -0.3225257396697998,
        "steering_angle": -0.059472210705280304
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.027185444998395,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.10762699986238822,
        "y": -0.16721156061988052,
        "yaw": -1.9298820495605469,
        "odom_age_sec": 0.029354036000000003,
        "odom_linear_x": 0.057999998331069946,
        "odom_angular_z": -0.3897438645362854
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1721641188862297,
      "yaw_error_to_goal": 1.9298820495605469,
      "distance_to_plan_end": 2.2724662625733014,
      "yaw_error_to_plan_end": 1.8559636981393965,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.32396091565328955,
        "angular_z": 0.12972505293629377
      },
      "ackermann_cmd": {
        "speed": -0.32396093010902405,
        "steering_angle": -0.057199638336896896
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.127056549999907,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8477254054658885,
        "y": 2.616845122443694,
        "yaw": -1.1312246159855452,
        "odom_age_sec": 0.029271995000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1697247475935038,
      "yaw_error_to_goal": 1.1312246159855452,
      "distance_to_plan_end": 1.061117024882055,
      "yaw_error_to_plan_end": 1.057306264564395,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.32692827597245694,
        "angular_z": 0.12013424133068377
      },
      "ackermann_cmd": {
        "speed": -0.3269282877445221,
        "steering_angle": -0.052499011158943176
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.227224238999042,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.4055602095664455,
        "y": 2.936020690674606,
        "yaw": -0.9854750116560784,
        "odom_age_sec": 0.029353577000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2410546980051693,
      "yaw_error_to_goal": 0.9854750116560784,
      "distance_to_plan_end": 3.167885616666327,
      "yaw_error_to_plan_end": 0.9115566602349282,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3501980108217462,
        "angular_z": -0.4196828690189218
      },
      "ackermann_cmd": {
        "speed": 0.35019800066947937,
        "steering_angle": -0.1697247475385666
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.326868051999554,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.847591862999727,
        "y": 2.617129046077826,
        "yaw": -1.1312246159855452,
        "odom_age_sec": 0.029110828000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1699561567915158,
      "yaw_error_to_goal": 1.1312246159855452,
      "distance_to_plan_end": 1.0613482355745452,
      "yaw_error_to_plan_end": 1.057306264564395,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3501482469709203,
        "angular_z": -0.41976262902921246
      },
      "ackermann_cmd": {
        "speed": 0.3501482605934143,
        "steering_angle": -0.16978006064891815
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.426989364999827,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.405734261641964,
        "y": 2.935756680622929,
        "yaw": -0.9854750116560784,
        "odom_age_sec": 0.02917312,
        "odom_linear_x": 0.006000000052154064,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2410937729774716,
      "yaw_error_to_goal": 0.9854750116560784,
      "distance_to_plan_end": 3.167932539846251,
      "yaw_error_to_plan_end": 0.9115566602349282,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3012661973895083,
        "angular_z": -0.19660565967432006
      },
      "ackermann_cmd": {
        "speed": -0.3012661933898926,
        "steering_angle": 0.0930519849061966
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.527306594998663,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.847591862999727,
        "y": 2.617129046077826,
        "yaw": -1.1312246159855452,
        "odom_age_sec": 0.029475453000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1699561567915158,
      "yaw_error_to_goal": 1.1312246159855452,
      "distance_to_plan_end": 1.0613482355745452,
      "yaw_error_to_plan_end": 1.057306264564395,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3501482469709203,
        "angular_z": -0.41976262902921246
      },
      "ackermann_cmd": {
        "speed": 0.3501482605934143,
        "steering_angle": -0.16978006064891815
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.627550616998633,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.847591862999727,
        "y": 2.617129046077826,
        "yaw": -1.1312246159855452,
        "odom_age_sec": 0.029276161000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1699561567915158,
      "yaw_error_to_goal": 1.1312246159855452,
      "distance_to_plan_end": 1.0613482355745452,
      "yaw_error_to_plan_end": 1.057306264564395,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.46772573251868993,
        "angular_z": 0.12076404319359904
      },
      "ackermann_cmd": {
        "speed": 0.4677257239818573,
        "steering_angle": 0.03690499812364578
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.72699713899965,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.10630789925653694,
        "y": -0.17060842676073218,
        "yaw": -1.9875974655151367,
        "odom_age_sec": 0.02915912,
        "odom_linear_x": 0.03200000151991844,
        "odom_angular_z": -0.3752758502960205
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1756171968521243,
      "yaw_error_to_goal": 1.9875974655151367,
      "distance_to_plan_end": 2.275940534665633,
      "yaw_error_to_plan_end": 1.9136791140939864,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4712845297813706,
        "angular_z": 0.10826525503550166
      },
      "ackermann_cmd": {
        "speed": 0.47128453850746155,
        "steering_angle": 0.03283868730068207
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.82768199399834,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.8518441763432276,
        "y": 2.6080883944562583,
        "yaw": -1.1312360991928903,
        "odom_age_sec": 0.029407660000000002,
        "odom_linear_x": 0.09799999743700027,
        "odom_angular_z": -0.00011601881124079227
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.1626066464437972,
      "yaw_error_to_goal": 1.1312360991928903,
      "distance_to_plan_end": 1.0540070427000412,
      "yaw_error_to_plan_end": 1.05731774777174,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4754313933654873,
        "angular_z": 0.09344549508235951
      },
      "ackermann_cmd": {
        "speed": 0.4754313826560974,
        "steering_angle": 0.02809908799827099
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 28.927028889998837,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.10189820769133329,
        "y": -0.1804625904578614,
        "yaw": -2.024637222290039,
        "odom_age_sec": 0.029173036000000003,
        "odom_linear_x": 0.15700000524520874,
        "odom_angular_z": -0.3726614713668823
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1860107821291854,
      "yaw_error_to_goal": 2.024637222290039,
      "distance_to_plan_end": 2.2863867046400936,
      "yaw_error_to_plan_end": 1.9507188708688887,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.3443090757945435,
        "angular_z": -0.4288463857822324
      },
      "ackermann_cmd": {
        "speed": 0.3443090617656708,
        "steering_angle": -0.1762620508670807
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.02752891199998,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.09730323435198951,
        "y": -0.19011576051406776,
        "yaw": -2.0431737899780273,
        "odom_age_sec": 0.029210911000000003,
        "odom_linear_x": 0.2150000035762787,
        "odom_angular_z": -0.3794269859790802
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.1963718948068505,
      "yaw_error_to_goal": 2.0431737899780273,
      "distance_to_plan_end": 2.2967947711930385,
      "yaw_error_to_plan_end": 1.969255438556877,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.341787418750378,
        "angular_z": -0.4326005580731421
      },
      "ackermann_cmd": {
        "speed": 0.3417874276638031,
        "steering_angle": -0.17905673384666443
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.12789893399895,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.08581560374369612,
        "y": -0.21253622503115976,
        "yaw": -2.08548641204834,
        "odom_age_sec": 0.029250703000000003,
        "odom_linear_x": 0.2549999952316284,
        "odom_angular_z": -0.4357781410217285
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.220967768487148,
      "yaw_error_to_goal": 2.08548641204834,
      "distance_to_plan_end": 2.321486080948507,
      "yaw_error_to_plan_end": 2.0115680606271895,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.48235669744659604,
        "angular_z": 0.06808292121368818
      },
      "ackermann_cmd": {
        "speed": 0.4823566973209381,
        "steering_angle": 0.02018119767308235
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.227204496999548,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.430319320888286,
        "y": 2.8984320634129634,
        "yaw": -0.9894568552468148,
        "odom_age_sec": 0.029176828000000002,
        "odom_linear_x": 0.2939999997615814,
        "odom_angular_z": -0.037178218364715576
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2469036878775173,
      "yaw_error_to_goal": 0.9894568552468148,
      "distance_to_plan_end": 3.1748565583024586,
      "yaw_error_to_plan_end": 0.9155385038256646,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.30183053703749474,
        "angular_z": -0.1950813360572847
      },
      "ackermann_cmd": {
        "speed": -0.301830530166626,
        "steering_angle": 0.09216298162937164
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.327236809998794,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 1.867967668708895,
        "y": 2.5736799074638586,
        "yaw": -1.1346771922167567,
        "odom_age_sec": 0.029245869,
        "odom_linear_x": 0.3009999990463257,
        "odom_angular_z": -0.015594491735100746
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 1.134984030243007,
      "yaw_error_to_goal": 1.1346771922167567,
      "distance_to_plan_end": 1.0264559839239418,
      "yaw_error_to_plan_end": 1.0607588407956063,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3404317980200362,
        "angular_z": 0.07401820204509221
      },
      "ackermann_cmd": {
        "speed": -0.340431809425354,
        "steering_angle": -0.031081685796380043
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.427139081999485,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.07201499585808913,
        "y": -0.2369033825495801,
        "yaw": -2.1290340423583984,
        "odom_age_sec": 0.029172911000000003,
        "odom_linear_x": 0.24199999868869781,
        "odom_angular_z": -0.42328178882598877
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.2485494284908096,
      "yaw_error_to_goal": 2.1290340423583984,
      "distance_to_plan_end": 2.3491503194022534,
      "yaw_error_to_plan_end": 2.055115690937248,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3014855790116652,
        "angular_z": -0.19601393435778283
      },
      "ackermann_cmd": {
        "speed": -0.3014855682849884,
        "steering_angle": 0.09270641207695007
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.52737135299867,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.446907924968062,
        "y": 2.872956622576649,
        "yaw": -0.9981487621758309,
        "odom_age_sec": 0.029387577,
        "odom_linear_x": 0.17000000178813934,
        "odom_angular_z": -0.06072692573070526
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2510423260420107,
      "yaw_error_to_goal": 0.9981487621758309,
      "distance_to_plan_end": 3.1797588215486594,
      "yaw_error_to_plan_end": 0.9242304107546807,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3451592541698409,
        "angular_z": 0.0569157862451321
      },
      "ackermann_cmd": {
        "speed": -0.34515926241874695,
        "steering_angle": -0.023575928062200546
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.62721099999908,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.058878169764890576,
        "y": -0.2580117043440622,
        "yaw": -2.1868743896484375,
        "odom_age_sec": 0.029236619000000002,
        "odom_linear_x": 0.09099999815225601,
        "odom_angular_z": -0.3672642707824707
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.2731997893258096,
      "yaw_error_to_goal": 2.1868743896484375,
      "distance_to_plan_end": 2.3738541367116524,
      "yaw_error_to_plan_end": 2.112956038227287,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4124662917257199,
        "angular_z": -0.28883763242314625
      },
      "ackermann_cmd": {
        "speed": 0.41246628761291504,
        "steering_angle": -0.09980583935976028
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.727023604998976,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.05408166186784902,
        "y": -0.26479038546439204,
        "yaw": -2.2242650985717773,
        "odom_age_sec": 0.029073828000000003,
        "odom_linear_x": 0.07100000232458115,
        "odom_angular_z": -0.37612923979759216
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.2814830582702994,
      "yaw_error_to_goal": 2.2242650985717773,
      "distance_to_plan_end": 2.3821464218581028,
      "yaw_error_to_plan_end": 2.150346747150627,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.3479332855191869,
        "angular_z": 0.04664901794145842
      },
      "ackermann_cmd": {
        "speed": -0.347933292388916,
        "steering_angle": -0.01917031966149807
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.827418584000043,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 0.05131068639785008,
        "y": -0.2684171941096527,
        "yaw": -2.2632217407226562,
        "odom_age_sec": 0.029440952000000003,
        "odom_linear_x": 0.03200000151991844,
        "odom_angular_z": -0.39291971921920776
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 2.2860446408081634,
      "yaw_error_to_goal": 2.2632217407226562,
      "distance_to_plan_end": 2.386710015821847,
      "yaw_error_to_plan_end": 2.189303389301506,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": -0.350922623800602,
        "angular_z": 0.03539396303464314
      },
      "ackermann_cmd": {
        "speed": -0.3509226143360138,
        "steering_angle": -0.01442194264382124
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 29.928361855998446,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.4502368351872885,
        "y": 2.8677671218531913,
        "yaw": -1.0010924120638696,
        "odom_age_sec": 0.030380285000000003,
        "odom_linear_x": -0.013000000268220901,
        "odom_angular_z": -0.02032470889389515
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2518739648575665,
      "yaw_error_to_goal": 1.0010924120638696,
      "distance_to_plan_end": 3.180745989061914,
      "yaw_error_to_plan_end": 0.9271740606427193,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.41647391324397953,
        "angular_z": -0.2782914896738878
      },
      "ackermann_cmd": {
        "speed": 0.416473925113678,
        "steering_angle": -0.09526460617780685
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    },
    {
      "elapsed_sec": 30.027757668998674,
      "pose_map": {
        "available": true,
        "frame_id": "map",
        "source_frame": "odom",
        "x": 4.449877451349408,
        "y": 2.8683310933696613,
        "yaw": -1.001623161623272,
        "odom_age_sec": 0.029624077000000002,
        "odom_linear_x": 0.0,
        "odom_angular_z": 0.0
      },
      "goal": {
        "elapsed_sec": 6.213075014999049,
        "frame_id": "map",
        "x": 1.5,
        "y": 1.5,
        "yaw": 0.0
      },
      "plan_end": {
        "x": 1.5313279087732288,
        "y": 1.603996681372098,
        "yaw": -0.07391835142115022
      },
      "distance_to_goal": 3.2517851957135626,
      "yaw_error_to_goal": 1.001623161623272,
      "distance_to_plan_end": 3.180640334560456,
      "yaw_error_to_plan_end": 0.9277048102021218,
      "plan_end_to_goal": 0.10861283351664033,
      "plan_end_yaw_to_goal": 0.07391835142115022,
      "cmd_vel": {
        "linear_x": 0.4077699507812821,
        "angular_z": -0.3008691410437746
      },
      "ackermann_cmd": {
        "speed": 0.40776994824409485,
        "steering_angle": -0.10512223094701767
      },
      "planner_status": "plan_ok hybrid_astar points=137 iterations=1112 obstacles=0 planning_ms=121.587 goal_error=0.109 yaw_error=0.074",
      "tracker_status": "external_plan_ok points=137 length=4.079 goal=(1.531,1.604,-0.074)"
    }
  ]
}