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"external_plan_ok points=73 length=2.160 goal=(1.452,1.507,0.000)" }, { "elapsed_sec": 30.078387158000623, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.11867636442184448, "y": 0.010635286569595337, "yaw": 0.23453302681446075, "odom_age_sec": 0.032802557, "odom_linear_x": 0.08500000089406967, "odom_angular_z": 0.21719703078269958 }, "goal": { "elapsed_sec": 27.51953966400106, "frame_id": "map", "x": 1.5, "y": 1.5, "yaw": 0.0 }, "plan_end": { "x": 1.451787752879414, "y": 1.5067238465394808, "yaw": 5.551115123125783e-17 }, "distance_to_goal": 2.0313203183689383, "yaw_error_to_goal": 0.23453302681446075, "distance_to_plan_end": 2.0038630076200405, "yaw_error_to_plan_end": 0.2345330268144607, "plan_end_to_goal": 0.04867885459522371, "plan_end_yaw_to_goal": 5.551115123125783e-17, "cmd_vel": { "linear_x": 0.0875, "angular_z": 0.35 }, "ackermann_cmd": { "speed": 0.08749999850988388, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=73 iterations=27 obstacles=0 planning_ms=158.885 goal_error=0.049 yaw_error=0.000", "tracker_status": "external_plan_ok points=73 length=2.160 goal=(1.452,1.507,0.000)" } ] }