{ "metadata": { "started_wall_time": 1784712514.8502862, "duration_sec": 30.068722632000004, "output_path": "/home/sunrise/yiliao_ws/test_results/goal_reach_debug_20260722_172834.json" }, "topics": { "odom": "/odom", "goal_pose": "/goal_pose", "plan": "/plan", "cmd_vel": "/planner_cmd_vel", "ackermann_cmd": "/ackermann_cmd", "planner_status": "/hybrid_astar_status", "tracker_status": "/pure_pursuit_status" }, "topic_endpoints": { "/odom": { "publisher_count": 1, "subscriber_count": 4, "publishers": [ { "node_name": "origincar_base", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" } ], "subscribers": [ { "node_name": "planner_odom_map_tf", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "grid_astar_theta_planner", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "topology_pure_pursuit", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" } ] }, "/goal_pose": { "publisher_count": 1, "subscriber_count": 2, "publishers": [ { "node_name": "foxglove_bridge", "node_namespace": "/", "topic_type": "geometry_msgs/msg/PoseStamped" } ], "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" } ] }, "/planner_cmd_vel": { "publisher_count": 1, "subscriber_count": 2, "publishers": [ { "node_name": "topology_pure_pursuit", "node_namespace": "/", "topic_type": "geometry_msgs/msg/Twist" } ], "subscribers": [ { "node_name": "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": 0.06, "goal_yaw_tolerance": 0.174533, "require_goal_yaw": false, "resolution": 0.1, "yaw_bins": 36, "primitive_length": 0.12, "min_turning_radius": 0.25, "heuristic_weight": 1.35, "goal_yaw_heuristic_weight": 0.0, "planning_timeout_ms": 1500.0, "max_iterations": 200000 } }, "tracker": { "node": "/topology_pure_pursuit", "service": "/topology_pure_pursuit/get_parameters", "values": { "goal_tolerance": 0.06, "goal_yaw_tolerance": 0.174533, "align_goal_yaw": false, "publish_cmd_vel": true, "cmd_vel_topic": "/planner_cmd_vel", "lookahead_distance": 0.4, "linear_speed": 0.6, "min_linear_speed": 0.08, "reverse_speed": 0.25, "slowdown_distance": 0.35, "curvature_slowdown_gain": 0.1, "min_turning_radius": 0.25, "max_angular_speed": 2.8 } } }, "latest": { "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan": { "frame_id": "map", "points": 121, "length": 3.5994960907122255, "start": { "x": 0.0, "y": 0.0, "yaw": 0.0 }, "end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "reverse_segment_fraction": 0.0 }, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.255613625049591, "y": 2.460881993174553, "yaw": 1.261182188987732, "odom_age_sec": 0.040457828, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "cmd_vel": { "linear_x": 0.24051173988164948, "angular_z": -0.9620469595265979 }, "ackermann_cmd": { "speed": 0.24051174521446228, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)", "last_plan_ok": { "points": 121, "iterations": 48, "planning_ms": 63.388, "goal_error": 0.052, "yaw_error": 1.44 }, "plan_points": [ { "x": 0.0, "y": 0.0, "yaw": 0.0 }, { "x": 0.02992805182222984, "y": 0.0017978410365334374, "yaw": 0.12 }, { "x": 0.05942565660678364, "y": 0.0071655062869925845, "yaw": 0.23999999999999994 }, { "x": 0.08806855831877249, "y": 0.016025794080516298, "yaw": 0.36000000000000004 }, { "x": 0.11544479388537073, "y": 0.02825126930517896, "yaw": 0.48000000000000004 }, { "x": 0.14116061834875887, "y": 0.043666096272580446, "yaw": 0.6000000000000002 }, { "x": 0.16484616799286828, "y": 0.06204856771477624, "yaw": 0.7199999999999999 }, { "x": 0.18616077999271485, "y": 0.083134293539673, "yaw": 0.8400000000000002 }, { "x": 0.20479789207524957, "y": 0.10662000348188583, "yaw": 0.96 }, { "x": 0.22200349165742328, "y": 0.13119575053091578, "yaw": 0.96 }, { "x": 0.23920909123959697, "y": 0.1557714975799457, "yaw": 0.96 }, { "x": 0.25641469082177065, "y": 0.18034724462897567, "yaw": 0.96 }, { "x": 0.27362029040394437, "y": 0.2049229916780056, "yaw": 0.96 }, { "x": 0.2908258899861181, "y": 0.22949873872703555, "yaw": 0.96 }, { "x": 0.30803148956829174, "y": 0.2540744857760655, "yaw": 0.96 }, { "x": 0.32523708915046545, "y": 0.27865023282509543, "yaw": 0.96 }, { "x": 0.34244268873263917, "y": 0.30322597987412536, "yaw": 0.96 }, { "x": 0.3596482883148129, "y": 0.3278017269231553, "yaw": 0.96 }, { "x": 0.3768538878969866, "y": 0.3523774739721853, "yaw": 0.96 }, { "x": 0.39405948747916025, "y": 0.3769532210212152, "yaw": 0.96 }, { "x": 0.41126508706133397, "y": 0.40152896807024513, "yaw": 0.96 }, { "x": 0.42990219914386874, "y": 0.42501467801245796, "yaw": 0.8399999999999999 }, { "x": 0.45121681114371526, "y": 0.4461004038373547, "yaw": 0.7199999999999999 }, { "x": 0.47490236078782466, "y": 0.46448287527955057, "yaw": 0.5999999999999999 }, { "x": 0.5006181852512128, "y": 0.479897702246952, "yaw": 0.48000000000000004 }, { "x": 0.5272280329345913, "y": 0.49375107751319647, "yaw": 0.48000000000000004 }, { "x": 0.5538378806179699, "y": 0.507604452779441, "yaw": 0.48000000000000004 }, { "x": 0.5804477283013484, "y": 0.5214578280456854, "yaw": 0.48000000000000004 }, { "x": 0.6070575759847269, "y": 0.5353112033119299, "yaw": 0.48000000000000004 }, { "x": 0.632773400448115, "y": 0.5507260302793314, "yaw": 0.6000000000000002 }, { "x": 0.6564589500922244, "y": 0.5691085017215272, "yaw": 0.7199999999999999 }, { "x": 0.677773562092071, "y": 0.590194227546424, "yaw": 0.8400000000000002 }, { "x": 0.6964106741746057, "y": 0.6136799374886368, "yaw": 0.96 }, { "x": 0.7136162737567794, "y": 0.6382556845376668, "yaw": 0.96 }, { "x": 0.7308218733389531, "y": 0.6628314315866967, "yaw": 0.96 }, { "x": 0.7480274729211268, "y": 0.6874071786357266, "yaw": 0.96 }, { "x": 0.7652330725033005, "y": 0.7119829256847566, "yaw": 0.96 }, { "x": 0.7824386720854742, "y": 0.7365586727337866, "yaw": 0.96 }, { "x": 0.799644271667648, "y": 0.7611344197828165, "yaw": 0.96 }, { "x": 0.8168498712498217, "y": 0.7857101668318465, "yaw": 0.96 }, { "x": 0.8340554708319954, "y": 0.8102859138808765, "yaw": 0.96 }, { "x": 0.8512610704141691, "y": 0.8348616609299064, "yaw": 0.96 }, { "x": 0.8684666699963428, "y": 0.8594374079789363, "yaw": 0.96 }, { "x": 0.8856722695785165, "y": 0.8840131550279663, "yaw": 0.96 }, { "x": 0.9028778691606902, "y": 0.9085889020769963, "yaw": 0.96 }, { "x": 0.920083468742864, "y": 0.9331646491260263, "yaw": 0.96 }, { "x": 0.9372890683250377, "y": 0.9577403961750561, "yaw": 0.96 }, { "x": 0.9544946679072114, "y": 0.9823161432240861, "yaw": 0.96 }, { "x": 0.9717002674893851, "y": 1.006891890273116, "yaw": 0.96 }, { "x": 0.9889058670715588, "y": 1.031467637322146, "yaw": 0.96 }, { "x": 1.0061114666537325, "y": 1.056043384371176, "yaw": 0.96 }, { "x": 1.0233170662359061, "y": 1.0806191314202058, "yaw": 0.96 }, { "x": 1.04052266581808, "y": 1.1051948784692358, "yaw": 0.96 }, { "x": 1.0577282654002536, "y": 1.1297706255182658, "yaw": 0.96 }, { "x": 1.0749338649824274, "y": 1.1543463725672958, "yaw": 0.96 }, { "x": 1.092139464564601, "y": 1.1789221196163258, "yaw": 0.96 }, { "x": 1.1093450641467748, "y": 1.2034978666653555, "yaw": 0.96 }, { "x": 1.1265506637289484, "y": 1.2280736137143855, "yaw": 0.96 }, { "x": 1.1437562633111222, "y": 1.2526493607634155, "yaw": 0.96 }, { "x": 1.1609618628932958, "y": 1.2772251078124452, "yaw": 0.96 }, { "x": 1.1781674624754697, "y": 1.3018008548614752, "yaw": 0.96 }, { "x": 1.1953730620576433, "y": 1.3263766019105052, "yaw": 0.96 }, { "x": 1.212578661639817, "y": 1.3509523489595352, "yaw": 0.96 }, { "x": 1.2297842612219907, "y": 1.3755280960085652, "yaw": 0.96 }, { "x": 1.2469898608041645, "y": 1.400103843057595, "yaw": 0.96 }, { "x": 1.2641954603863381, "y": 1.424679590106625, "yaw": 0.96 }, { "x": 1.281401059968512, "y": 1.449255337155655, "yaw": 0.96 }, { "x": 1.2986066595506855, "y": 1.4738310842046847, "yaw": 0.96 }, { "x": 1.3158122591328594, "y": 1.4984068312537147, "yaw": 0.96 }, { "x": 1.3344493712153942, "y": 1.5218925411959274, "yaw": 0.8399999999999999 }, { "x": 1.3557639832152406, "y": 1.5429782670208243, "yaw": 0.7199999999999999 }, { "x": 1.3794495328593501, "y": 1.5613607384630201, "yaw": 0.5999999999999999 }, { "x": 1.4051653573227383, "y": 1.5767755654304216, "yaw": 0.48000000000000004 }, { "x": 1.4317752050061168, "y": 1.590628940696666, "yaw": 0.48000000000000004 }, { "x": 1.4583850526894953, "y": 1.6044823159629107, "yaw": 0.48000000000000004 }, { "x": 1.484994900372874, "y": 1.618335691229155, "yaw": 0.48000000000000004 }, { "x": 1.5116047480562524, "y": 1.6321890664953995, "yaw": 0.48000000000000004 }, { "x": 1.538214595739631, "y": 1.646042441761644, "yaw": 0.48000000000000004 }, { "x": 1.5648244434230094, "y": 1.6598958170278886, "yaw": 0.48000000000000004 }, { "x": 1.591434291106388, "y": 1.673749192294133, "yaw": 0.48000000000000004 }, { "x": 1.6180441387897666, "y": 1.6876025675603774, "yaw": 0.48000000000000004 }, { "x": 1.644653986473145, "y": 1.7014559428266218, "yaw": 0.48000000000000004 }, { "x": 1.6712638341565236, "y": 1.7153093180928665, "yaw": 0.48000000000000004 }, { "x": 1.6978736818399023, "y": 1.7291626933591109, "yaw": 0.48000000000000004 }, { "x": 1.7244835295232808, "y": 1.7430160686253553, "yaw": 0.48000000000000004 }, { "x": 1.7510933772066593, "y": 1.7568694438915997, "yaw": 0.48000000000000004 }, { "x": 1.7777032248900377, "y": 1.7707228191578444, "yaw": 0.48000000000000004 }, { "x": 1.8043130725734162, "y": 1.7845761944240888, "yaw": 0.48000000000000004 }, { "x": 1.830922920256795, "y": 1.7984295696903332, "yaw": 0.48000000000000004 }, { "x": 1.8575327679401734, "y": 1.8122829449565776, "yaw": 0.48000000000000004 }, { "x": 1.884142615623552, "y": 1.8261363202228222, "yaw": 0.48000000000000004 }, { "x": 1.9107524633069306, "y": 1.8399896954890667, "yaw": 0.48000000000000004 }, { "x": 1.937362310990309, "y": 1.853843070755311, "yaw": 0.48000000000000004 }, { "x": 1.9639721586736876, "y": 1.8676964460215555, "yaw": 0.48000000000000004 }, { "x": 1.990582006357066, "y": 1.8815498212878001, "yaw": 0.48000000000000004 }, { "x": 2.0171918540404445, "y": 1.8954031965540445, "yaw": 0.48000000000000004 }, { "x": 2.0438017017238232, "y": 1.909256571820289, "yaw": 0.48000000000000004 }, { "x": 2.070411549407202, "y": 1.9231099470865334, "yaw": 0.48000000000000004 }, { "x": 2.09702139709058, "y": 1.936963322352778, "yaw": 0.48000000000000004 }, { "x": 2.123631244773959, "y": 1.9508166976190224, "yaw": 0.48000000000000004 }, { "x": 2.150241092457337, "y": 1.9646700728852668, "yaw": 0.48000000000000004 }, { "x": 2.1759569169207253, "y": 1.9800848998526683, "yaw": 0.6000000000000002 }, { "x": 2.1996424665648346, "y": 1.9984673712948642, "yaw": 0.7199999999999999 }, { "x": 2.2209570785646813, "y": 2.019553097119761, "yaw": 0.8400000000000002 }, { "x": 2.239594190647216, "y": 2.043038807061974, "yaw": 0.96 }, { "x": 2.25679979022939, "y": 2.0676145541110036, "yaw": 0.96 }, { "x": 2.2740053898115633, "y": 2.092190301160034, "yaw": 0.96 }, { "x": 2.291210989393737, "y": 2.1167660482090636, "yaw": 0.96 }, { "x": 2.308416588975911, "y": 2.1413417952580938, "yaw": 0.96 }, { "x": 2.325622188558085, "y": 2.1659175423071235, "yaw": 0.96 }, { "x": 2.342827788140258, "y": 2.1904932893561537, "yaw": 0.96 }, { "x": 2.360033387722432, "y": 2.2150690364051835, "yaw": 0.96 }, { "x": 2.377238987304606, "y": 2.2396447834542137, "yaw": 0.96 }, { "x": 2.3944445868867796, "y": 2.2642205305032435, "yaw": 0.96 }, { "x": 2.411650186468953, "y": 2.2887962775522737, "yaw": 0.96 }, { "x": 2.428855786051127, "y": 2.3133720246013034, "yaw": 0.96 }, { "x": 2.4460613856333007, "y": 2.3379477716503336, "yaw": 0.96 }, { "x": 2.461752945279288, "y": 2.363495677125013, "yaw": 1.0800000000000003 }, { "x": 2.474273265049858, "y": 2.3907383295492792, "yaw": 1.2000000000000002 }, { "x": 2.483442268587617, "y": 2.4192839052553543, "yaw": 1.3199999999999998 }, { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 } ] }, "metrics": { "sample_count": 298, "goal_count": 1, "plan_count": 1, "planner_status_count": 3, "tracker_status_count": 1, "min_distance_to_goal": 0.11032901152179536, "min_distance_to_plan_end": 0.11919259113823705, "final_distance_to_goal": 0.24749731052962493, "final_distance_to_plan_end": 0.23383085821827032, "final_plan_end_to_goal": 0.05241801430223684, "final_plan_end_yaw_to_goal": 1.4399999999999997, "max_abs_cmd_linear": 0.5862498219735169, "max_abs_cmd_angular": 1.44, "max_abs_ackermann_speed": 0.586249828338623, "max_abs_steering_angle": 0.5195767879486084, "tf_failures": 0, "saw_plan_ok": true, "saw_plan_failed": false, "saw_goal_reached": false, "saw_align_goal_yaw": false, "saw_no_recent_odom": false }, "diagnostic_hints": [ "tracker 的 min_linear_speed 数值大于 goal_tolerance;接近终点时可能仍以较高速度越过目标。" ], "events": { "goals": [ { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 } ], "plans": [ { "frame_id": "map", "points": 121, "length": 3.5994960907122255, "start": { "x": 0.0, "y": 0.0, "yaw": 0.0 }, "end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "reverse_segment_fraction": 0.0, "elapsed_sec": 8.393348825999993 } ], "planner_status": [ { "elapsed_sec": 8.286502767999991, "data": "goal_received map=(2.500,2.500,0.000)" }, { "elapsed_sec": 8.288978095999994, "data": "plan_start start=(0.000,0.000,0.000) goal=(2.500,2.500,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=0.000 goal_yaw_tolerance=0.175" }, { "elapsed_sec": 8.394567655999992, "data": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "parsed_plan_ok": { "points": 121, "iterations": 48, "planning_ms": 63.388, "goal_error": 0.052, "yaw_error": 1.44 } } ], "tracker_status": [ { "elapsed_sec": 8.400533893000016, "data": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" } ] }, "samples": [ { "elapsed_sec": 0.21566827800000965, "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": 0.484638523000001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.444847943, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": null, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.5686525469999992, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028838604, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.6682156210000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028315439, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.7687356929999964, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028675021000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.8682757250000179, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028429272000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 0.9682598390000123, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028443313, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.067918120999991, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028234896000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.1680331109999997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028216438000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.2679470170000116, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028253105, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.3679735899999912, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028297938, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.4679424960000063, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028285980000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.5683175260000155, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028421396, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.6681540160000168, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028400063000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.7680604640000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028354313000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.868158287, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.02838898, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 1.9681404009999994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028335438, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.070242468999993, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.030533975, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.1712746649999985, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.031441765, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.268364577, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028418604, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.3678951930000096, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028201355, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.4681368070000076, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028369688, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.5680716299999915, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028400397, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.669826198999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.02946506, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.7682971910000163, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028461563000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.870553008999991, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.027606190000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 2.968850626999995, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028217522000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.0710199450000175, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.031211390000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.1693031469999937, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.027847605, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.273437419000004, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.032349012, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.3682439610000188, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028488437000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.468222450000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028233980000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.5688699800000165, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028746145, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.668608887000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028821396000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.768059751999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028336313000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.868097199999994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028447229, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 3.9681213560000117, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028411063, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.070455172999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.080760073, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.168571750000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.02891277, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.268258489999994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028529229000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.368867936000015, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.029006144, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.468167969000007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028400729000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.568151499999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028395938000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.668151948000002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028422104, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.769779267000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.029723810000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.868221676000019, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028452479000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 4.968325372999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028439646000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.068195988000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028418937000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.168209644000001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028461271000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.268365549999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028704604, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.368056998000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028426938000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.468885152000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.029237644, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.568020226000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028368063000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.671601291000002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.031585139000000005, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.7683797040000115, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028720229000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.8681298600000105, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028432604, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 5.968196808000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028497812, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.068093381000011, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028451021000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.167984203000003, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028248480000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.268110026000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028442896000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.368653722000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028938686, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.468134546000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028438563000000004, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.568180118000015, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028474771000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.668148690999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028457355, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.768064387999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028452146, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.868114918999993, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028404063, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 6.968991114999994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028567271, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.068873729000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028734437, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.1680919279999955, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028452688, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.268227751000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028659895, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.368009865000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028441396, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.468120978999991, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028429437000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.569354132000001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.029643185000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.66927333000001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.029572268000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.768086696000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028485354, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.868186476999995, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028510813000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 7.969270964000003, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.029524769000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.068345579999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028495854, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.170485398000011, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.079199951, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.268143809000009, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.07140842600000001, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": null, "plan_end": null, "distance_to_goal": null, "yaw_error_to_goal": null, "distance_to_plan_end": null, "yaw_error_to_plan_end": null, "plan_end_to_goal": null, "plan_end_yaw_to_goal": null, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "", "tracker_status": "" }, { "elapsed_sec": 8.398296982000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.10790563800000001, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.5355339059327378, "yaw_error_to_goal": 0.0, "distance_to_plan_end": 3.4917040619406463, "yaw_error_to_plan_end": 1.4399999999999997, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.0, "angular_z": 0.0 }, "ackermann_cmd": { "speed": 0.0, "steering_angle": 0.0 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "" }, { "elapsed_sec": 8.468754952000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.020933329, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.5355339059327378, "yaw_error_to_goal": 0.0, "distance_to_plan_end": 3.4917040619406463, "yaw_error_to_plan_end": 1.4399999999999997, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.41770202144070145, "angular_z": 1.269103902479544 }, "ackermann_cmd": { "speed": 0.4177020192146301, "steering_angle": 0.4098701477050781 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 8.568250776000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.0, "y": 0.0, "yaw": 0.0, "odom_age_sec": 0.028412563000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.5355339059327378, "yaw_error_to_goal": 0.0, "distance_to_plan_end": 3.4917040619406463, "yaw_error_to_plan_end": 1.4399999999999997, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.41770202144070145, "angular_z": 1.269103902479544 }, "ackermann_cmd": { "speed": 0.4177020192146301, "steering_angle": 0.4098701477050781 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 8.668053848, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.003294646739959717, "y": 3.337860107421875e-06, "yaw": 0.002958257682621479, "odom_age_sec": 0.028339271000000003, "odom_linear_x": 0.04500000178813934, "odom_angular_z": 0.029743947088718414 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.5332026451518384, "yaw_error_to_goal": 0.002958257682621479, "distance_to_plan_end": 3.489353832512114, "yaw_error_to_plan_end": 1.4370417423173782, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.41705485586279767, "angular_z": 1.2716360119823278 }, "ackermann_cmd": { "speed": 0.4170548617839813, "steering_angle": 0.4111669063568115 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 8.768990209999998, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.01264643669128418, "y": 3.787875175476074e-05, "yaw": 0.005742433480918407, "odom_age_sec": 0.029199477, "odom_linear_x": 0.10400000214576721, "odom_angular_z": 0.02748885378241539 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.5265760103222776, "yaw_error_to_goal": 0.005742433480918406, "distance_to_plan_end": 3.482673467257499, "yaw_error_to_plan_end": 1.4342575665190813, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4113616935309529, "angular_z": 1.2933095535653019 }, "ackermann_cmd": { "speed": 0.4113616943359375, "steering_angle": 0.4225112199783325 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 8.868180076000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.027324020862579346, "y": 0.00013785064220428467, "yaw": 0.010804839432239536, "odom_age_sec": 0.028474063, "odom_linear_x": 0.17000000178813934, "odom_angular_z": 0.06020582839846611 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.5161679800025167, "yaw_error_to_goal": 0.010804839432239538, "distance_to_plan_end": 3.4721812721006904, "yaw_error_to_plan_end": 1.4291951605677602, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4005800211948611, "angular_z": 1.3313943222740212 }, "ackermann_cmd": { "speed": 0.4005800187587738, "steering_angle": 0.4436802566051483 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 8.968568105999992, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.04909849166870117, "y": 0.00040431320667266846, "yaw": 0.017998609691858295, "odom_age_sec": 0.028697312000000003, "odom_linear_x": 0.2290000021457672, "odom_angular_z": 0.0756288468837738 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.5006994731019745, "yaw_error_to_goal": 0.017998609691858295, "distance_to_plan_end": 3.4565883630699563, "yaw_error_to_plan_end": 1.4220013903081414, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.39730817882911496, "angular_z": 1.3421853055493493 }, "ackermann_cmd": { "speed": 0.3973081707954407, "steering_angle": 0.45002198219299316 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.068317387000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.07571959495544434, "y": 0.0009342432022094727, "yaw": 0.028730295598506924, "odom_age_sec": 0.028502104, "odom_linear_x": 0.2680000066757202, "odom_angular_z": 0.11852535605430603 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.481733065454948, "yaw_error_to_goal": 0.028730295598506924, "distance_to_plan_end": 3.4374706751423916, "yaw_error_to_plan_end": 1.4112697044014928, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.39325343494352777, "angular_z": 1.35506328118722 }, "ackermann_cmd": { "speed": 0.3932534456253052, "steering_angle": 0.4578275680541992 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.16882908400001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.10983449220657349, "y": 0.0020244866609573364, "yaw": 0.04446303844451904, "odom_age_sec": 0.029141978000000002, "odom_linear_x": 0.3009999990463257, "odom_angular_z": 0.14558489620685577 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.4572782387142147, "yaw_error_to_goal": 0.04446303844451904, "distance_to_plan_end": 3.4128237463205497, "yaw_error_to_plan_end": 1.3955369615554807, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.3764293545301756, "angular_z": 1.4026425627683452 }, "ackermann_cmd": { "speed": 0.37642934918403625, "steering_angle": 0.4895758032798767 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.268472407000019, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.13910967111587524, "y": 0.003394186496734619, "yaw": 0.05892164260149002, "odom_age_sec": 0.028528146, "odom_linear_x": 0.3269999921321869, "odom_angular_z": 0.1733589768409729 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.43610880692636, "yaw_error_to_goal": 0.05892164260149002, "distance_to_plan_end": 3.391491392107921, "yaw_error_to_plan_end": 1.3810783573985097, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.3712137672022065, "angular_z": 1.4154766560144987 }, "ackermann_cmd": { "speed": 0.37121376395225525, "steering_angle": 0.499207466840744 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.368111521999992, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.17880570888519287, "y": 0.005906045436859131, "yaw": 0.08205147832632063, "odom_age_sec": 0.028055355, "odom_linear_x": 0.3330000042915344, "odom_angular_z": 0.20791275799274445 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.407117196588984, "yaw_error_to_goal": 0.08205147832632063, "distance_to_plan_end": 3.3622817360012687, "yaw_error_to_plan_end": 1.357948521673679, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36936551683487673, "angular_z": 1.419807084570507 }, "ackermann_cmd": { "speed": 0.36936551332473755, "steering_angle": 0.5025966167449951 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.468130344000002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.21068376302719116, "y": 0.008619606494903564, "yaw": 0.10219782590866089, "odom_age_sec": 0.028331979, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.23149996995925903 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.383481209938804, "yaw_error_to_goal": 0.10219782590866089, "distance_to_plan_end": 3.3384738164414722, "yaw_error_to_plan_end": 1.3378021740913388, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.568025000000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.2511802911758423, "y": 0.012954995036125183, "yaw": 0.1295626014471054, "odom_age_sec": 0.028298729, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.25069159269332886 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.352996113852763, "yaw_error_to_goal": 0.1295626014471054, "distance_to_plan_end": 3.3077742419992378, "yaw_error_to_plan_end": 1.3104373985528943, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.668357737999997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.2825055718421936, "y": 0.01711636781692505, "yaw": 0.15186353027820587, "odom_age_sec": 0.028469521, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.2617570459842682 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.328962701784677, "yaw_error_to_goal": 0.15186353027820587, "distance_to_plan_end": 3.283578546847722, "yaw_error_to_plan_end": 1.2881364697217939, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.768190228000009, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.32176125049591064, "y": 0.02329149842262268, "yaw": 0.18210378289222715, "odom_age_sec": 0.028426146000000003, "odom_linear_x": 0.3400000035762787, "odom_angular_z": 0.27823132276535034 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.2983039659235165, "yaw_error_to_goal": 0.18210378289222712, "distance_to_plan_end": 3.2527206032609546, "yaw_error_to_plan_end": 1.2578962171077726, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.868339550000002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.3587336540222168, "y": 0.030221641063690186, "yaw": 0.21261706948280332, "odom_age_sec": 0.028532729000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.30093711614608765 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.26876531838662, "yaw_error_to_goal": 0.21261706948280332, "distance_to_plan_end": 3.2229991668992533, "yaw_error_to_plan_end": 1.2273829305171964, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 9.968110330999991, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.3885544538497925, "y": 0.036726608872413635, "yaw": 0.23782028257846835, "odom_age_sec": 0.028335480000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.3060418367385864 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.2443671330160444, "yaw_error_to_goal": 0.23782028257846835, "distance_to_plan_end": 3.198457528427134, "yaw_error_to_plan_end": 1.2021797174215314, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.068689402000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.42440927028656006, "y": 0.04551687836647034, "yaw": 0.26852712035179144, "odom_age_sec": 0.028559521, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.3072400689125061 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.2144306294670986, "yaw_error_to_goal": 0.26852712035179144, "distance_to_plan_end": 3.1683525463615796, "yaw_error_to_plan_end": 1.1714728796482083, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.168155850000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.4658432602882385, "y": 0.05707739293575287, "yaw": 0.30376571416854853, "odom_age_sec": 0.028473021, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.3047299385070801 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.1789407836290944, "yaw_error_to_goal": 0.30376571416854853, "distance_to_plan_end": 3.1326737190469975, "yaw_error_to_plan_end": 1.1362342858314511, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.271027125000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.4959738850593567, "y": 0.06654243171215057, "yaw": 0.32985553145408625, "odom_age_sec": 0.031144765, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.30030927062034607 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.152433410243823, "yaw_error_to_goal": 0.32985553145408625, "distance_to_plan_end": 3.1060332234513255, "yaw_error_to_plan_end": 1.1101444685459134, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.368129870000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.5343313813209534, "y": 0.0797673910856247, "yaw": 0.36242094635963434, "odom_age_sec": 0.028368188000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.2921740710735321 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.1179126029624493, "yaw_error_to_goal": 0.36242094635963434, "distance_to_plan_end": 3.0713474764716056, "yaw_error_to_plan_end": 1.0775790536403653, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.468224025000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.5662301182746887, "y": 0.09185926616191864, "yaw": 0.3895769715309143, "odom_age_sec": 0.028457896000000003, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.29080140590667725 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.088463655191386, "yaw_error_to_goal": 0.3895769715309143, "distance_to_plan_end": 3.0417655679118925, "yaw_error_to_plan_end": 1.0504230284690854, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.568164556, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.5979742407798767, "y": 0.10486666858196259, "yaw": 0.4178735017776489, "odom_age_sec": 0.028423938000000003, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.30625101923942566 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.058490749374036, "yaw_error_to_goal": 0.4178735017776489, "distance_to_plan_end": 3.0116639777844334, "yaw_error_to_plan_end": 1.0221264982223508, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.668820252000017, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.636853039264679, "y": 0.12221188843250275, "yaw": 0.4532545804977417, "odom_age_sec": 0.028780062000000002, "odom_linear_x": 0.37299999594688416, "odom_angular_z": 0.30637750029563904 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 3.0207934223989876, "yaw_error_to_goal": 0.4532545804977417, "distance_to_plan_end": 2.9738142827178446, "yaw_error_to_plan_end": 0.986745419502258, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.768089158999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.6663437485694885, "y": 0.1365153044462204, "yaw": 0.47873353958129883, "odom_age_sec": 0.028375937, "odom_linear_x": 0.37299999594688416, "odom_angular_z": 0.29487019777297974 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.9913801420961423, "yaw_error_to_goal": 0.47873353958129883, "distance_to_plan_end": 2.9442896917126404, "yaw_error_to_plan_end": 0.9612664604187009, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.86830593900001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.7019868493080139, "y": 0.15499918162822723, "yaw": 0.5102131962776184, "odom_age_sec": 0.028307271000000002, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.29833710193634033 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.954975486907735, "yaw_error_to_goal": 0.5102131962776184, "distance_to_plan_end": 2.9077547040021954, "yaw_error_to_plan_end": 0.9297868037223813, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 10.969637217000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.7321487069129944, "y": 0.17181892693042755, "yaw": 0.5388516783714294, "odom_age_sec": 0.029917059000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.3071520924568176 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.923307254372825, "yaw_error_to_goal": 0.5388516783714294, "distance_to_plan_end": 2.8759804240654727, "yaw_error_to_plan_end": 0.9011483216285703, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.068990957000011, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.767245352268219, "y": 0.19280071556568146, "yaw": 0.5733371376991272, "odom_age_sec": 0.029282269000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.3080660402774811 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.885412831351923, "yaw_error_to_goal": 0.5733371376991272, "distance_to_plan_end": 2.8379676274151047, "yaw_error_to_plan_end": 0.8666628623008725, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.169327196000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.794869601726532, "y": 0.2105436474084854, "yaw": 0.6003724336624146, "odom_age_sec": 0.028668729, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.30417466163635254 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.854659360683491, "yaw_error_to_goal": 0.6003724336624146, "distance_to_plan_end": 2.807125472694698, "yaw_error_to_plan_end": 0.8396275663375852, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.270017225000004, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.8286685347557068, "y": 0.23364584147930145, "yaw": 0.6335055828094484, "odom_age_sec": 0.030302308000000003, "odom_linear_x": 0.37299999594688416, "odom_angular_z": 0.3040740191936493 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.815974083431824, "yaw_error_to_goal": 0.6335055828094484, "distance_to_plan_end": 2.768336610130101, "yaw_error_to_plan_end": 0.8064944171905514, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.368130343000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.8564149737358093, "y": 0.2538774162530899, "yaw": 0.6610952019691467, "odom_age_sec": 0.028422521000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.3023965060710907 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.7832424256211956, "yaw_error_to_goal": 0.6610952019691467, "distance_to_plan_end": 2.7355244722205634, "yaw_error_to_plan_end": 0.778904798030853, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.468067332000004, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.8901042342185974, "y": 0.2800426334142685, "yaw": 0.6964693069458007, "odom_age_sec": 0.028271521, "odom_linear_x": 0.34599998593330383, "odom_angular_z": 0.2956112027168274 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.742257297581528, "yaw_error_to_goal": 0.6964693069458007, "distance_to_plan_end": 2.694447395415314, "yaw_error_to_plan_end": 0.743530693054199, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.568130529000001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.9157468676567078, "y": 0.3013371676206589, "yaw": 0.7243664860725403, "odom_age_sec": 0.028460271000000002, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.3027603328227997 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.7099771655543297, "yaw_error_to_goal": 0.7243664860725403, "distance_to_plan_end": 2.6621024354177476, "yaw_error_to_plan_end": 0.7156335139274594, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.668402642000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.940981924533844, "y": 0.32354675233364105, "yaw": 0.7540419697761536, "odom_age_sec": 0.028637562000000002, "odom_linear_x": 0.3400000035762787, "odom_angular_z": 0.31108909845352173 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.6772161098625635, "yaw_error_to_goal": 0.7540419697761536, "distance_to_plan_end": 2.629282350372548, "yaw_error_to_plan_end": 0.6859580302238462, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.768187298000015, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.9706017374992371, "y": 0.35132287442684174, "yaw": 0.7908056974411011, "odom_age_sec": 0.028476646, "odom_linear_x": 0.34599998593330383, "odom_angular_z": 0.31939494609832764 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.6373988009593243, "yaw_error_to_goal": 0.7908056974411011, "distance_to_plan_end": 2.5894023788557425, "yaw_error_to_plan_end": 0.6491943025588985, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.869788491999998, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 0.9789913296699524, "y": 0.3596390336751938, "yaw": 0.8011229634284973, "odom_age_sec": 0.07972607500000001, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.3144562244415283 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.625759402798748, "yaw_error_to_goal": 0.8011229634284973, "distance_to_plan_end": 2.577747074931998, "yaw_error_to_plan_end": 0.6388770365715024, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 11.969927022000007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.0165014863014221, "y": 0.3987175077199936, "yaw": 0.8468798398971559, "odom_age_sec": 0.030299975000000003, "odom_linear_x": 0.3529999852180481, "odom_angular_z": 0.3055746257305145 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.572188941836965, "yaw_error_to_goal": 0.8468798398971559, "distance_to_plan_end": 2.524113082382376, "yaw_error_to_plan_end": 0.5931201601028439, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.068019307000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.0441169142723083, "y": 0.42988739907741547, "yaw": 0.8821610808372498, "odom_age_sec": 0.028395896, "odom_linear_x": 0.3330000042915344, "odom_angular_z": 0.29117071628570557 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.5308025880748684, "yaw_error_to_goal": 0.8821610808372498, "distance_to_plan_end": 2.482690027904589, "yaw_error_to_plan_end": 0.55783891916275, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.171333621999992, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.0642382502555847, "y": 0.45412491261959076, "yaw": 0.9062883257865907, "odom_age_sec": 0.031562972, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.2855377197265625 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.4994032638197745, "yaw_error_to_goal": 0.9062883257865907, "distance_to_plan_end": 2.4512706776846045, "yaw_error_to_plan_end": 0.533711674213409, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.269237532000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.0919391512870789, "y": 0.4893596023321152, "yaw": 0.9402327537536621, "odom_age_sec": 0.029402561, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.2829129993915558 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.4546507210624124, "yaw_error_to_goal": 0.9402327537536621, "distance_to_plan_end": 2.406498968723206, "yaw_error_to_plan_end": 0.4997672462463376, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.368349773000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.108687698841095, "y": 0.512115404009819, "yaw": 0.9626490473747255, "odom_age_sec": 0.028450604, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.29684609174728394 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.4264037352285652, "yaw_error_to_goal": 0.9626490473747255, "distance_to_plan_end": 2.3782472830504084, "yaw_error_to_plan_end": 0.4773509526252743, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.468119262000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.1304596066474915, "y": 0.543286606669426, "yaw": 0.993457019329071, "odom_age_sec": 0.028419271000000003, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.30220305919647217 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.388381919346944, "yaw_error_to_goal": 0.993457019329071, "distance_to_plan_end": 2.340227222791788, "yaw_error_to_plan_end": 0.4465429806709286, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.569446623000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.1399646401405334, "y": 0.5575955361127853, "yaw": 1.0073052644729614, "odom_age_sec": 0.078104662, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.2997714877128601 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.371208822815284, "yaw_error_to_goal": 1.0073052644729614, "distance_to_plan_end": 2.3230584775386216, "yaw_error_to_plan_end": 0.4326947355270383, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.668184823000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.169431984424591, "y": 0.6044814437627792, "yaw": 1.0526134967803955, "odom_age_sec": 0.028479105, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.29640036821365356 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.315901949805285, "yaw_error_to_goal": 1.0526134967803955, "distance_to_plan_end": 2.2677787434004086, "yaw_error_to_plan_end": 0.3873865032196042, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.769872141000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.188137710094452, "y": 0.6372223943471909, "yaw": 1.0832082033157346, "odom_age_sec": 0.030046518, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.2986108362674713 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.2783597336236965, "yaw_error_to_goal": 1.0832082033157346, "distance_to_plan_end": 2.2302704296405063, "yaw_error_to_plan_end": 0.3567917966842651, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.868207634000015, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2074920535087585, "y": 0.6737568825483322, "yaw": 1.1180952787399292, "odom_age_sec": 0.028485438000000002, "odom_linear_x": 0.34599998593330383, "odom_angular_z": 0.29993951320648193 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.237351272326854, "yaw_error_to_goal": 1.1180952787399292, "distance_to_plan_end": 2.1893130223035144, "yaw_error_to_plan_end": 0.32190472126007047, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 12.969883869, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2201557755470276, "y": 0.699658140540123, "yaw": 1.1435816287994385, "odom_age_sec": 0.030210475, "odom_linear_x": 0.34599998593330383, "odom_angular_z": 0.3140382468700409 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.208898379235468, "yaw_error_to_goal": 1.1435816287994385, "distance_to_plan_end": 2.16090595334844, "yaw_error_to_plan_end": 0.29641837120056125, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.068131152999996, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2354422211647034, "y": 0.7331806272268295, "yaw": 1.173798680305481, "odom_age_sec": 0.028498854, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.29114824533462524 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.1727303265751687, "yaw_error_to_goal": 1.173798680305481, "distance_to_plan_end": 2.1248082008176916, "yaw_error_to_plan_end": 0.26620131969451877, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": 1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.170102513000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2493361830711365, "y": 0.7662983983755112, "yaw": 1.2015280723571777, "odom_age_sec": 0.030434516, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.2864035367965698 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.1377280525011577, "yaw_error_to_goal": 1.2015280723571777, "distance_to_plan_end": 2.0898881762982753, "yaw_error_to_plan_end": 0.238471927642822, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.3793455566712198, "angular_z": 1.3950713772755705 }, "ackermann_cmd": { "speed": 0.379345566034317, "steering_angle": 0.4841468632221222 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.268078172999992, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2628695368766785, "y": 0.8012048453092575, "yaw": 1.2309755086898804, "odom_age_sec": 0.028393896000000002, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.2975485026836395 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.1015224862914192, "yaw_error_to_goal": 1.2309755086898804, "distance_to_plan_end": 2.0537824293497904, "yaw_error_to_plan_end": 0.20902449131011935, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.3945866351602341, "angular_z": 1.350889474151079 }, "ackermann_cmd": { "speed": 0.39458662271499634, "steering_angle": 0.45526766777038574 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.368203160999997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2748354077339172, "y": 0.8351271599531174, "yaw": 1.2599834203720093, "odom_age_sec": 0.028508854, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.30322328209877014 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.067082449170398, "yaw_error_to_goal": 1.2599834203720093, "distance_to_plan_end": 2.0194540079045202, "yaw_error_to_plan_end": 0.18001657962799045, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4191837535170904, "angular_z": 1.2632538816262906 }, "ackermann_cmd": { "speed": 0.41918376088142395, "steering_angle": 0.40689563751220703 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.46809002500001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2861836552619934, "y": 0.8705975264310837, "yaw": 1.2901694774627686, "odom_age_sec": 0.028416771, "odom_linear_x": 0.3659999966621399, "odom_angular_z": 0.2968040704727173 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 2.031822467546227, "yaw_error_to_goal": 1.2901694774627686, "distance_to_plan_end": 1.9843264959801823, "yaw_error_to_plan_end": 0.14983052253723117, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4214163556630333, "angular_z": 1.2543011429584627 }, "ackermann_cmd": { "speed": 0.42141634225845337, "steering_angle": 0.40239936113357544 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.568164389000003, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.2977508902549744, "y": 0.911247655749321, "yaw": 1.3241677284240723, "odom_age_sec": 0.028348146, "odom_linear_x": 0.35899999737739563, "odom_angular_z": 0.2913598120212555 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.9923696778571829, "yaw_error_to_goal": 1.3241677284240723, "distance_to_plan_end": 1.9450466523843088, "yaw_error_to_plan_end": 0.11583227157592745, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4471736731620637, "angular_z": 1.1389984987997674 }, "ackermann_cmd": { "speed": 0.44717368483543396, "steering_angle": 0.3493005633354187 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.667923337000019, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3059303164482117, "y": 0.9439684599637985, "yaw": 1.350202441215515, "odom_age_sec": 0.02824998, "odom_linear_x": 0.38600000739097595, "odom_angular_z": 0.2937268614768982 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.9613863879319906, "yaw_error_to_goal": 1.350202441215515, "distance_to_plan_end": 1.9142203861623106, "yaw_error_to_plan_end": 0.08979755878448481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4772256195292649, "angular_z": 0.9765179963744705 }, "ackermann_cmd": { "speed": 0.4772256314754486, "steering_angle": 0.2846653461456299 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.767941616999991, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3097595572471619, "y": 0.9607134312391281, "yaw": 1.362547039985657, "odom_age_sec": 0.028281563000000003, "odom_linear_x": 0.39899998903274536, "odom_angular_z": 0.2898898422718048 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.9457840199601009, "yaw_error_to_goal": 1.362547039985657, "distance_to_plan_end": 1.8987045956021542, "yaw_error_to_plan_end": 0.07745296001434276, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.48308851390863394, "angular_z": 0.9413099345787989 }, "ackermann_cmd": { "speed": 0.48308852314949036, "steering_angle": 0.2717462480068207 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.868472646000015, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3197420239448547, "y": 1.0088997334241867, "yaw": 1.3929225206375124, "odom_age_sec": 0.028706895000000003, "odom_linear_x": 0.4050000011920929, "odom_angular_z": 0.24374642968177795 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.9016805449455094, "yaw_error_to_goal": 1.3929225206375124, "distance_to_plan_end": 1.854872354349799, "yaw_error_to_plan_end": 0.047077479362487296, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.5134181903577146, "angular_z": 0.7408779337406379 }, "ackermann_cmd": { "speed": 0.5134181976318359, "steering_angle": 0.20349697768688202 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 13.968185719000019, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3263296484947205, "y": 1.0458381623029709, "yaw": 1.4128559827804565, "odom_age_sec": 0.028335354, "odom_linear_x": 0.4180000126361847, "odom_angular_z": 0.22206178307533264 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.8687131251791773, "yaw_error_to_goal": 1.4128559827804565, "distance_to_plan_end": 1.8221368800476418, "yaw_error_to_plan_end": 0.02714401721954318, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.5219010113163683, "angular_z": 0.6793323529462163 }, "ackermann_cmd": { "speed": 0.52190101146698, "steering_angle": 0.18402987718582153 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.068679082000017, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3326789736747742, "y": 1.0862669199705124, "yaw": 1.4331459999084473, "odom_age_sec": 0.028950978000000002, "odom_linear_x": 0.4449999928474426, "odom_angular_z": 0.21926435828208923 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.8333792842918892, "yaw_error_to_goal": 1.4331459999084473, "distance_to_plan_end": 1.78708084560145, "yaw_error_to_plan_end": 0.006854000091552459, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.548188799111476, "angular_z": 0.47337199992672335 }, "ackermann_cmd": { "speed": 0.5481888055801392, "steering_angle": 0.12286141514778137 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.168601529, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3397318720817566, "y": 1.138636276125908, "yaw": 1.4572086334228516, "odom_age_sec": 0.028797146000000003, "odom_linear_x": 0.46399998664855957, "odom_angular_z": 0.2002672553062439 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.7887239354755782, "yaw_error_to_goal": 1.4572086334228516, "distance_to_plan_end": 1.7428240965224107, "yaw_error_to_plan_end": 0.017208633422851838, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.5786447734239129, "angular_z": 0.20595150405893753 }, "ackermann_cmd": { "speed": 0.5786447525024414, "steering_angle": 0.05085274204611778 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.268482018000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.344706952571869, "y": 1.1829137057065964, "yaw": 1.4724283218383787, "odom_age_sec": 0.028573938, "odom_linear_x": 0.48399999737739563, "odom_angular_z": 0.15510357916355133 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.751975551213917, "yaw_error_to_goal": 1.4724283218383787, "distance_to_plan_end": 1.7064495168697735, "yaw_error_to_plan_end": 0.032428321838378966, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.5655369209718778, "angular_z": -0.3248357266795782 }, "ackermann_cmd": { "speed": 0.5655369162559509, "steering_angle": -0.0819530338048935 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.368494799000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3492894768714905, "y": 1.2300160378217697, "yaw": 1.4845679998397825, "odom_age_sec": 0.028622979000000003, "odom_linear_x": 0.503000020980835, "odom_angular_z": 0.12002332508563995 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.7137660202689877, "yaw_error_to_goal": 1.4845679998397825, "distance_to_plan_end": 1.6686748866164596, "yaw_error_to_plan_end": 0.04456799983978277, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.5260104548014889, "angular_z": -0.6486545720070691 }, "ackermann_cmd": { "speed": 0.5260104537010193, "steering_angle": -0.1745472550392151 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.46824607900001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3537307381629944, "y": 1.2818798273801804, "yaw": 1.493419885635376, "odom_age_sec": 0.028544187000000002, "odom_linear_x": 0.5099999904632568, "odom_angular_z": 0.07695633172988892 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.6726475945565142, "yaw_error_to_goal": 1.493419885635376, "distance_to_plan_end": 1.62808089784795, "yaw_error_to_plan_end": 0.05341988563537625, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.48549453645870594, "angular_z": -0.9265296157328301 }, "ackermann_cmd": { "speed": 0.4854945242404938, "steering_angle": -0.26641717553138733 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.568365735000015, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3577342629432678, "y": 1.3335884064435959, "yaw": 1.4993914365768433, "odom_age_sec": 0.028599604, "odom_linear_x": 0.5230000019073486, "odom_angular_z": 0.05663497745990753 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.6325706782974359, "yaw_error_to_goal": 1.4993914365768433, "distance_to_plan_end": 1.5885762642929893, "yaw_error_to_plan_end": 0.05939143657684354, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.45219328136058223, "angular_z": -1.1139534184783104 }, "ackermann_cmd": { "speed": 0.4521932899951935, "steering_angle": -0.33869802951812744 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.668954804999998, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3597334027290344, "y": 1.3609954565763474, "yaw": 1.5004018545150757, "odom_age_sec": 0.079313201, "odom_linear_x": 0.5230000019073486, "odom_angular_z": 0.019423773512244225 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.6116883268149675, "yaw_error_to_goal": 1.5004018545150757, "distance_to_plan_end": 1.5680181841270542, "yaw_error_to_plan_end": 0.06040185451507596, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4239657159839893, "angular_z": -1.2438750210096148 }, "ackermann_cmd": { "speed": 0.423965722322464, "steering_angle": -0.39724403619766235 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.769009502000017, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3654202818870544, "y": 1.4386921375989914, "yaw": 1.4936504364013672, "odom_age_sec": 0.029260436, "odom_linear_x": 0.5099999904632568, "odom_angular_z": -0.08407032489776611 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.5535911674399572, "yaw_error_to_goal": 1.4936504364013672, "distance_to_plan_end": 1.510919990807437, "yaw_error_to_plan_end": 0.053650436401367456, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.38987215325711916, "angular_z": -1.365383267815481 }, "ackermann_cmd": { "speed": 0.38987216353416443, "steering_angle": -0.46429115533828735 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.868255868000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3696525692939758, "y": 1.490445300936699, "yaw": 1.4799861907958984, "odom_age_sec": 0.028591812, "odom_linear_x": 0.49000000953674316, "odom_angular_z": -0.15139362215995789 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.5155480871633544, "yaw_error_to_goal": 1.4799861907958984, "distance_to_plan_end": 1.4736075962182447, "yaw_error_to_plan_end": 0.03998619079589871, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.3763190042685219, "angular_z": -1.4029234931243555 }, "ackermann_cmd": { "speed": 0.3763189911842346, "steering_angle": -0.48978060483932495 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 14.968286148000004, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3747192025184631, "y": 1.5422764271497726, "yaw": 1.4594621658325195, "odom_age_sec": 0.028467896000000003, "odom_linear_x": 0.47699999809265137, "odom_angular_z": -0.20171982049942017 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.4776641415334164, "yaw_error_to_goal": 1.4594621658325195, "distance_to_plan_end": 1.4365063298924945, "yaw_error_to_plan_end": 0.019462165832519807, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36053776269075266, "angular_z": -1.4389196548066354 }, "ackermann_cmd": { "speed": 0.3605377674102783, "steering_angle": -0.5186105370521545 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.072215295000007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.379544198513031, "y": 1.582885429263115, "yaw": 1.4380714893341064, "odom_age_sec": 0.032222221, "odom_linear_x": 0.45100000500679016, "odom_angular_z": -0.26097559928894043 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.4479365797381138, "yaw_error_to_goal": 1.4380714893341064, "distance_to_plan_end": 1.407426404208045, "yaw_error_to_plan_end": 0.0019285106658932794, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.168249166999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3858965039253235, "y": 1.627597615122795, "yaw": 1.4104434251785278, "odom_age_sec": 0.028376812, "odom_linear_x": 0.45100000500679016, "odom_angular_z": -0.28162556886672974 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.415030925847648, "yaw_error_to_goal": 1.4104434251785278, "distance_to_plan_end": 1.3752690304377861, "yaw_error_to_plan_end": 0.029556574821471893, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.268152947999994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.3935107588768005, "y": 1.6716850250959396, "yaw": 1.3790051937103271, "odom_age_sec": 0.028494437, "odom_linear_x": 0.42500001192092896, "odom_angular_z": -0.320158451795578 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.3821809354681853, "yaw_error_to_goal": 1.3790051937103271, "distance_to_plan_end": 1.3431915458780708, "yaw_error_to_plan_end": 0.060994806289672576, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.368252603000002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4034990668296814, "y": 1.7195977419614792, "yaw": 1.337697148323059, "odom_age_sec": 0.028555438000000002, "odom_linear_x": 0.4050000011920929, "odom_angular_z": -0.36124980449676514 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.345861055530994, "yaw_error_to_goal": 1.337697148323059, "distance_to_plan_end": 1.307750858278501, "yaw_error_to_plan_end": 0.10230285167694064, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.468106884000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4122359156608582, "y": 1.754484936594963, "yaw": 1.3029274940490723, "odom_age_sec": 0.028427395, "odom_linear_x": 0.4050000011920929, "odom_angular_z": -0.3987220525741577 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.3187203695029466, "yaw_error_to_goal": 1.3029274940490723, "distance_to_plan_end": 1.2812734346484067, "yaw_error_to_plan_end": 0.13707250595092746, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.568261580000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4224998354911804, "y": 1.7900453060865402, "yaw": 1.2690370082855225, "odom_age_sec": 0.028615062, "odom_linear_x": 0.38600000739097595, "odom_angular_z": -0.35917985439300537 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.2903651699911494, "yaw_error_to_goal": 1.2690370082855225, "distance_to_plan_end": 1.2536150090442715, "yaw_error_to_plan_end": 0.17096299171447726, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.667998903000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4363828301429749, "y": 1.8323078602552414, "yaw": 1.2295305728912354, "odom_age_sec": 0.028357687000000003, "odom_linear_x": 0.38600000739097595, "odom_angular_z": -0.3473319411277771 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.255824142741173, "yaw_error_to_goal": 1.2295305728912354, "distance_to_plan_end": 1.2199339154274567, "yaw_error_to_plan_end": 0.21046942710876437, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.768089766000003, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.448021948337555, "y": 1.8637619465589523, "yaw": 1.1989858150482178, "odom_age_sec": 0.028493562, "odom_linear_x": 0.37299999594688416, "odom_angular_z": -0.34232068061828613 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.2294131452957413, "yaw_error_to_goal": 1.1989858150482178, "distance_to_plan_end": 1.194185938927671, "yaw_error_to_plan_end": 0.24101418495178192, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.868185879999999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4625199437141418, "y": 1.899337574839592, "yaw": 1.1651461124420166, "odom_age_sec": 0.028484062, "odom_linear_x": 0.3659999966621399, "odom_angular_z": -0.32216423749923706 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.1988161728098643, "yaw_error_to_goal": 1.1651461124420166, "distance_to_plan_end": 1.1643656378558447, "yaw_error_to_plan_end": 0.27485388755798307, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 15.968122452000017, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.4778545498847961, "y": 1.9335670918226242, "yaw": 1.1315841674804688, "odom_age_sec": 0.028429355000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": -0.33008432388305664 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.1686006848609547, "yaw_error_to_goal": 1.1315841674804688, "distance_to_plan_end": 1.1349266802400508, "yaw_error_to_plan_end": 0.308415832519531, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.068090065999996, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.497019112110138, "y": 1.9726095646619797, "yaw": 1.0937827825546265, "odom_age_sec": 0.028439771000000003, "odom_linear_x": 0.3659999966621399, "odom_angular_z": -0.32436686754226685 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.133186362765791, "yaw_error_to_goal": 1.0937827825546265, "distance_to_plan_end": 1.1004376879379951, "yaw_error_to_plan_end": 0.34621721744537326, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.168769845000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.5120838284492493, "y": 2.0007677525281906, "yaw": 1.0660395622253418, "odom_age_sec": 0.028723895000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": -0.3160206079483032 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.1068925868968706, "yaw_error_to_goal": 1.0660395622253418, "distance_to_plan_end": 1.074838748853374, "yaw_error_to_plan_end": 0.37396043777465793, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.26816479300001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.5280607342720032, "y": 2.028668686747551, "yaw": 1.0386669635772705, "odom_age_sec": 0.028541854000000002, "odom_linear_x": 0.3529999852180481, "odom_angular_z": -0.29796740412712097 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.0801940303094422, "yaw_error_to_goal": 1.0386669635772705, "distance_to_plan_end": 1.0488541827028834, "yaw_error_to_plan_end": 0.40133303642272916, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.369989069000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.5470157265663147, "y": 2.0597186535596848, "yaw": 1.0093704462051392, "odom_age_sec": 0.029814184, "odom_linear_x": 0.3529999852180481, "odom_angular_z": -0.29029589891433716 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.049774589821656, "yaw_error_to_goal": 1.0093704462051392, "distance_to_plan_end": 1.019264032260706, "yaw_error_to_plan_end": 0.43062955379486056, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.467936312000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.5663986802101135, "y": 2.0895240753889084, "yaw": 0.9808397293090819, "odom_age_sec": 0.028396187000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": -0.288940966129303 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 1.0198538664920325, "yaw_error_to_goal": 0.9808397293090819, "distance_to_plan_end": 0.9901780552826569, "yaw_error_to_plan_end": 0.4591602706909178, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.568104217000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.590701401233673, "y": 2.124456688761711, "yaw": 0.945683479309082, "odom_age_sec": 0.028542479000000003, "odom_linear_x": 0.35899999737739563, "odom_angular_z": -0.30124232172966003 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.983797093070631, "yaw_error_to_goal": 0.945683479309082, "distance_to_plan_end": 0.9551535934883055, "yaw_error_to_plan_end": 0.4943165206909177, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.668223081000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6093416810035706, "y": 2.1494539231061935, "yaw": 0.9185919165611267, "odom_age_sec": 0.028561437000000002, "odom_linear_x": 0.3529999852180481, "odom_angular_z": -0.31225720047950745 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.9571597532403794, "yaw_error_to_goal": 0.9185919165611267, "distance_to_plan_end": 0.9292929546683445, "yaw_error_to_plan_end": 0.521408083438873, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.768220068999995, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.630763828754425, "y": 2.1765726059675217, "yaw": 0.8894214630126953, "odom_age_sec": 0.028547145000000003, "odom_linear_x": 0.3659999966621399, "odom_angular_z": -0.3023463785648346 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.9274571691524663, "yaw_error_to_goal": 0.8894214630126953, "distance_to_plan_end": 0.9004745387720149, "yaw_error_to_plan_end": 0.5505785369873044, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.868341641, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6580994725227356, "y": 2.2090614289045334, "yaw": 0.855846107006073, "odom_age_sec": 0.028466271, "odom_linear_x": 0.3330000042915344, "odom_angular_z": -0.26518571376800537 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.8907534733682311, "yaw_error_to_goal": 0.855846107006073, "distance_to_plan_end": 0.8648963293775848, "yaw_error_to_plan_end": 0.5841538929939267, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 16.967960172000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.6760619282722473, "y": 2.229157015681267, "yaw": 0.8346753716468811, "odom_age_sec": 0.028391937000000003, "odom_linear_x": 0.3140000104904175, "odom_angular_z": -0.25332123041152954 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.8673118632862835, "yaw_error_to_goal": 0.8346753716468811, "distance_to_plan_end": 0.8421907625834835, "yaw_error_to_plan_end": 0.6053246283531186, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.06825549300001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.700282633304596, "y": 2.2548878639936447, "yaw": 0.792350172996521, "odom_age_sec": 0.028668062, "odom_linear_x": 0.2549999952316284, "odom_angular_z": -0.35185325145721436 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.8364375803440621, "yaw_error_to_goal": 0.792350172996521, "distance_to_plan_end": 0.8123107474138036, "yaw_error_to_plan_end": 0.6476498270034787, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.169174688, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7146568894386292, "y": 2.268977925181389, "yaw": 0.75923889875412, "odom_age_sec": 0.029416977, "odom_linear_x": 0.20200000703334808, "odom_angular_z": -0.3549256920814514 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.8186177376283179, "yaw_error_to_goal": 0.75923889875412, "distance_to_plan_end": 0.795055659193863, "yaw_error_to_plan_end": 0.6807611012458797, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.268212179000017, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.725034773349762, "y": 2.2784991711378098, "yaw": 0.7286451458930969, "odom_age_sec": 0.028555562000000003, "odom_linear_x": 0.17000000178813934, "odom_angular_z": -0.39354652166366577 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.8059985854228853, "yaw_error_to_goal": 0.7286451458930969, "distance_to_plan_end": 0.7828245905202957, "yaw_error_to_plan_end": 0.7113548541069029, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.368236251000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7374442219734192, "y": 2.289187952876091, "yaw": 0.6933792233467101, "odom_age_sec": 0.028604812, "odom_linear_x": 0.15700000524520874, "odom_angular_z": -0.3541833162307739 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.7911592973695608, "yaw_error_to_goal": 0.6933792233467101, "distance_to_plan_end": 0.7684267595441501, "yaw_error_to_plan_end": 0.7466207766532896, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.468696697000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7494867444038391, "y": 2.2988255470991135, "yaw": 0.6607945561408997, "odom_age_sec": 0.028756812000000003, "odom_linear_x": 0.15000000596046448, "odom_angular_z": -0.29143524169921875 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.7770079197315297, "yaw_error_to_goal": 0.6607945561408997, "distance_to_plan_end": 0.7546775504407661, "yaw_error_to_plan_end": 0.7792054438591, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.568205936, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7629476189613342, "y": 2.3089368790388107, "yaw": 0.6330862641334534, "odom_age_sec": 0.028626354000000003, "odom_linear_x": 0.14300000667572021, "odom_angular_z": -0.23060646653175354 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.7614140323018723, "yaw_error_to_goal": 0.6330862641334534, "distance_to_plan_end": 0.7395119326017757, "yaw_error_to_plan_end": 0.8069137358665464, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.668678591000003, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7732160687446594, "y": 2.316257521510124, "yaw": 0.6152336001396179, "odom_age_sec": 0.028817395000000003, "odom_linear_x": 0.15000000596046448, "odom_angular_z": -0.20691761374473572 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.7496507060842204, "yaw_error_to_goal": 0.6152336001396179, "distance_to_plan_end": 0.7280637366748646, "yaw_error_to_plan_end": 0.8247663998603818, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.768305413000007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.7867403626441956, "y": 2.325527235865593, "yaw": 0.5952592492103577, "odom_age_sec": 0.028822186000000003, "odom_linear_x": 0.15700000524520874, "odom_angular_z": -0.1879878044128418 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.7342888094650729, "yaw_error_to_goal": 0.5952592492103577, "distance_to_plan_end": 0.7131096809564509, "yaw_error_to_plan_end": 0.8447407507896421, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.870527105000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.799990713596344, "y": 2.334250971674919, "yaw": 0.5791022777557373, "odom_age_sec": 0.030997349, "odom_linear_x": 0.17599999904632568, "odom_angular_z": -0.1707712709903717 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.7193648180457981, "yaw_error_to_goal": 0.5791022777557373, "distance_to_plan_end": 0.6985799099096107, "yaw_error_to_plan_end": 0.8608977222442623, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 17.968415682, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8189685940742493, "y": 2.3462832421064377, "yaw": 0.5585004091262817, "odom_age_sec": 0.028853937000000003, "odom_linear_x": 0.18299999833106995, "odom_angular_z": -0.1720762699842453 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.6981637469208156, "yaw_error_to_goal": 0.5585004091262817, "distance_to_plan_end": 0.6779435108683045, "yaw_error_to_plan_end": 0.881499590873718, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.068084838000004, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8343859314918518, "y": 2.355660006403923, "yaw": 0.5441255569458008, "odom_age_sec": 0.028468688000000002, "odom_linear_x": 0.19599999487400055, "odom_angular_z": -0.15600545704364777 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.6810845189455457, "yaw_error_to_goal": 0.5441255569458008, "distance_to_plan_end": 0.6613227554545289, "yaw_error_to_plan_end": 0.895874443054199, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.168222909000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.84883052110672, "y": 2.3641515225172043, "yaw": 0.5255292057991028, "odom_age_sec": 0.028533937000000002, "odom_linear_x": 0.16300000250339508, "odom_angular_z": -0.20188799500465393 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.6651890701721876, "yaw_error_to_goal": 0.5255292057991028, "distance_to_plan_end": 0.6458584237015564, "yaw_error_to_plan_end": 0.9144707942008968, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15, "angular_z": -0.6 }, "ackermann_cmd": { "speed": -0.15000000596046448, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.267974190000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8615973591804504, "y": 2.371346041560173, "yaw": 0.5068544149398804, "odom_age_sec": 0.028393771, "odom_linear_x": 0.14300000667572021, "odom_angular_z": -0.19794312119483948 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.6512371095289422, "yaw_error_to_goal": 0.5068544149398804, "distance_to_plan_end": 0.6322830226008752, "yaw_error_to_plan_end": 0.9331455850601194, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.36, "angular_z": -1.44 }, "ackermann_cmd": { "speed": 0.36000001430511475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.368101386999996, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8725443482398987, "y": 2.377236172556877, "yaw": 0.48487225174903864, "odom_age_sec": 0.028533187, "odom_linear_x": 0.11699999868869781, "odom_angular_z": -0.22602322697639465 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.639352447601617, "yaw_error_to_goal": 0.48487225174903864, "distance_to_plan_end": 0.6207138630713335, "yaw_error_to_plan_end": 0.955127748250961, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.1593411286447073, "angular_z": -0.5778274753363065 }, "ackermann_cmd": { "speed": -0.15934112668037415, "steering_angle": 0.47839200496673584 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.469569164000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.8862524628639221, "y": 2.384207770228386, "yaw": 0.46093043684959417, "odom_age_sec": 0.029845268, "odom_linear_x": 0.15000000596046448, "odom_angular_z": -0.2225756049156189 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.6245749593252067, "yaw_error_to_goal": 0.46093043684959417, "distance_to_plan_end": 0.6063176360566365, "yaw_error_to_plan_end": 0.9790695631504057, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.3868973560759711, "angular_z": -1.374147491783431 }, "ackermann_cmd": { "speed": 0.38689735531806946, "steering_angle": -0.4699433445930481 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.56811661400002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.899773895740509, "y": 2.390714928507805, "yaw": 0.4403426051139831, "odom_age_sec": 0.028519020000000003, "odom_linear_x": 0.15700000524520874, "odom_angular_z": -0.20157526433467865 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.6100939297235956, "yaw_error_to_goal": 0.4403426051139831, "distance_to_plan_end": 0.5922019563573272, "yaw_error_to_plan_end": 0.9996573948860167, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.1588661948275231, "angular_z": -0.5791232339161699 }, "ackermann_cmd": { "speed": -0.15886619687080383, "steering_angle": 0.4805305302143097 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.668099726999998, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.917175829410553, "y": 2.3986537903547287, "yaw": 0.42108952999114996, "odom_age_sec": 0.028552937, "odom_linear_x": 0.15000000596046448, "odom_angular_z": -0.15264233946800232 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.5915700026478187, "yaw_error_to_goal": 0.42108952999114996, "distance_to_plan_end": 0.5741395190555295, "yaw_error_to_plan_end": 1.0189104700088498, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.38431474800905013, "angular_z": -1.3815170544695057 }, "ackermann_cmd": { "speed": 0.38431474566459656, "steering_angle": -0.4748242199420929 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.768425215000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9268003106117249, "y": 2.402849957346916, "yaw": 0.4082086086273193, "odom_age_sec": 0.028697645, "odom_linear_x": 0.11100000143051147, "odom_angular_z": -0.1469629853963852 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.5813742466796333, "yaw_error_to_goal": 0.4082086086273193, "distance_to_plan_end": 0.5641956669588216, "yaw_error_to_plan_end": 1.0317913913726804, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.3802521155949218, "angular_z": -1.3926599657089882 }, "ackermann_cmd": { "speed": 0.3802521228790283, "steering_angle": -0.4824528098106384 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.868136037, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9363060593605042, "y": 2.406844660639763, "yaw": 0.394575148820877, "odom_age_sec": 0.028562229, "odom_linear_x": 0.12399999797344208, "odom_angular_z": -0.15973249077796936 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.5713394577350706, "yaw_error_to_goal": 0.394575148820877, "distance_to_plan_end": 0.5544058850765398, "yaw_error_to_plan_end": 1.0454248511791226, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.157022671386641, "angular_z": -0.5839819406905281 }, "ackermann_cmd": { "speed": -0.15702266991138458, "steering_angle": 0.4887864291667938 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 18.968148901000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9490252137184143, "y": 2.411978527903557, "yaw": 0.3775921761989594, "odom_age_sec": 0.028631646, "odom_linear_x": 0.12999999523162842, "odom_angular_z": -0.17140614986419678 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.557961463425624, "yaw_error_to_goal": 0.3775921761989594, "distance_to_plan_end": 0.541351251846969, "yaw_error_to_plan_end": 1.0624078238010404, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.3817035266888956, "angular_z": -1.388742228776615 }, "ackermann_cmd": { "speed": 0.38170352578163147, "steering_angle": -0.4797343611717224 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.068755804999995, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9596570134162903, "y": 2.4160724133253098, "yaw": 0.3637338876724243, "odom_age_sec": 0.028708728000000003, "odom_linear_x": 0.11100000143051147, "odom_angular_z": -0.12470798194408417 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.5468220761410797, "yaw_error_to_goal": 0.3637338876724243, "distance_to_plan_end": 0.5304767630324775, "yaw_error_to_plan_end": 1.0762661123275754, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.37721029088687613, "angular_z": -1.400642849686066 }, "ackermann_cmd": { "speed": 0.3772102892398834, "steering_angle": -0.4881250262260437 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.16809608599999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9725285172462463, "y": 2.4208367317914963, "yaw": 0.3519768416881561, "odom_age_sec": 0.028588687, "odom_linear_x": 0.13699999451637268, "odom_angular_z": -0.12479958683252335 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.5333788411175446, "yaw_error_to_goal": 0.351976841688156, "distance_to_plan_end": 0.517351609814962, "yaw_error_to_plan_end": 1.0880231583118436, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.1546000330424914, "angular_z": -0.5899535217553367 }, "ackermann_cmd": { "speed": -0.15460003912448883, "steering_angle": 0.4995264708995819 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.269150488999998, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 1.9947732090950012, "y": 2.428739830851555, "yaw": 0.33363518118858343, "odom_age_sec": 0.029556976000000002, "odom_linear_x": 0.16300000250339508, "odom_angular_z": -0.12856271862983704 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.5102275197940899, "yaw_error_to_goal": 0.33363518118858343, "distance_to_plan_end": 0.49475854688479975, "yaw_error_to_plan_end": 1.1063648188114164, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.37424847582568394, "angular_z": -1.4081193972927135 }, "ackermann_cmd": { "speed": 0.3742484748363495, "steering_angle": -0.49361538887023926 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.367954897000004, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0029175877571106, "y": 2.4314928501844406, "yaw": 0.32661494612693787, "odom_age_sec": 0.028444812000000003, "odom_linear_x": 0.12399999797344208, "odom_angular_z": -0.10811200737953186 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.5017809822393245, "yaw_error_to_goal": 0.32661494612693787, "distance_to_plan_end": 0.4865156538902952, "yaw_error_to_plan_end": 1.1133850538730619, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15206967388495213, "angular_z": -0.5956893102304937 }, "ackermann_cmd": { "speed": -0.15206967294216156, "steering_angle": 0.5106112360954285 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.468178593000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.015611231327057, "y": 2.435660406947136, "yaw": 0.30996832251548767, "odom_age_sec": 0.028699437, "odom_linear_x": 0.11100000143051147, "odom_angular_z": -0.16659238934516907 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.48864308288432584, "yaw_error_to_goal": 0.30996832251548767, "distance_to_plan_end": 0.4736969575690015, "yaw_error_to_plan_end": 1.130031677484512, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.15021924718930463, "angular_z": -0.59955958284819 }, "ackermann_cmd": { "speed": -0.15021924674510956, "steering_angle": 0.5186313390731812 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.568080749000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0217683911323547, "y": 2.4375699013471603, "yaw": 0.2914077341556549, "odom_age_sec": 0.028597812, "odom_linear_x": 0.057999998331069946, "odom_angular_z": -0.19178049266338348 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.48228932077948783, "yaw_error_to_goal": 0.2914077341556549, "distance_to_plan_end": 0.4674927219781483, "yaw_error_to_plan_end": 1.1485922658443448, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.37281924655287113, "angular_z": -1.4116226221912027 }, "ackermann_cmd": { "speed": 0.3728192448616028, "steering_angle": -0.49625325202941895 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.66804652900001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0259678959846497, "y": 2.438789650797844, "yaw": 0.27711990475654613, "odom_age_sec": 0.028502021000000002, "odom_linear_x": 0.04500000178813934, "odom_angular_z": -0.15406134724617004 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.477967721176514, "yaw_error_to_goal": 0.2771199047565462, "distance_to_plan_end": 0.46326666728823707, "yaw_error_to_plan_end": 1.1628800952434535, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.37235538973148713, "angular_z": -1.41274495961341 }, "ackermann_cmd": { "speed": 0.3723554015159607, "steering_angle": -0.49710777401924133 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.76837072500001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0341907143592834, "y": 2.441050335764885, "yaw": 0.2650979161262513, "odom_age_sec": 0.028673187000000003, "odom_linear_x": 0.09799999743700027, "odom_angular_z": -0.10727336257696152 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.46952460372439214, "yaw_error_to_goal": 0.2650979161262513, "distance_to_plan_end": 0.455002043072116, "yaw_error_to_plan_end": 1.1749020838737485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.403444200993711, "angular_z": -1.3216549546795453 }, "ackermann_cmd": { "speed": 0.40344420075416565, "steering_angle": -0.43809711933135986 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.868243422000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0485621094703674, "y": 2.4448340386152267, "yaw": 0.2550019025802612, "odom_age_sec": 0.028594437, "odom_linear_x": 0.14300000667572021, "odom_angular_z": -0.09010996669530869 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.4547960557231679, "yaw_error_to_goal": 0.2550019025802612, "distance_to_plan_end": 0.4405831248810113, "yaw_error_to_plan_end": 1.1849980974197385, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4363164121311603, "angular_z": -1.1902972630614608 }, "ackermann_cmd": { "speed": 0.4363164007663727, "steering_angle": -0.3719537556171417 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 19.969965532000003, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0650840401649475, "y": 2.4490216225385666, "yaw": 0.24727454781532293, "odom_age_sec": 0.030221516, "odom_linear_x": 0.20200000703334808, "odom_angular_z": -0.08727763593196869 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.43789346545460733, "yaw_error_to_goal": 0.24727454781532293, "distance_to_plan_end": 0.42404414640757654, "yaw_error_to_plan_end": 1.1927254521846768, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4684615040050764, "angular_z": -1.0270120278057935 }, "ackermann_cmd": { "speed": 0.4684615135192871, "steering_angle": -0.303795725107193 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.068151857000004, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.0913577675819397, "y": 2.455452725291252, "yaw": 0.2370198518037796, "odom_age_sec": 0.028534354, "odom_linear_x": 0.24799999594688416, "odom_angular_z": -0.09346252679824829 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.41106317494953576, "yaw_error_to_goal": 0.2370198518037796, "distance_to_plan_end": 0.39782725739546293, "yaw_error_to_plan_end": 1.2029801481962201, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.5238695535511511, "angular_z": -0.6647070498801381 }, "ackermann_cmd": { "speed": 0.5238695740699768, "steering_angle": -0.17949149012565613 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.17070525700001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.119516909122467, "y": 2.462058588862419, "yaw": 0.22791917622089386, "odom_age_sec": 0.031177598, "odom_linear_x": 0.3070000112056732, "odom_angular_z": -0.09666959196329117 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.3823701519768926, "yaw_error_to_goal": 0.22791917622089386, "distance_to_plan_end": 0.36985170937739925, "yaw_error_to_plan_end": 1.2120808237791059, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.5166754948463954, "angular_z": -0.7175288322178278 }, "ackermann_cmd": { "speed": 0.5166754722595215, "steering_angle": -0.19603949785232544 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.268417459000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.150468170642853, "y": 2.469041630625725, "yaw": 0.2215427905321121, "odom_age_sec": 0.028721395, "odom_linear_x": 0.3529999852180481, "odom_angular_z": -0.06286720186471939 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.3509001572642394, "yaw_error_to_goal": 0.2215427905321121, "distance_to_plan_end": 0.33926896183900457, "yaw_error_to_plan_end": 1.2184572094678876, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.48099440045661335, "angular_z": -0.7974153810779837 }, "ackermann_cmd": { "speed": 0.48099440336227417, "steering_angle": -0.2327747941017151 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.368242406000007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.1901245713233948, "y": 2.477744624018669, "yaw": 0.21662241220474246, "odom_age_sec": 0.02859702, "odom_linear_x": 0.38600000739097595, "odom_angular_z": -0.041682012379169464 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.31067359568778974, "yaw_error_to_goal": 0.21662241220474246, "distance_to_plan_end": 0.300408755695268, "yaw_error_to_plan_end": 1.2233775877952573, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.4076745891089042, "angular_z": -0.8400850082692892 }, "ackermann_cmd": { "speed": 0.4076745808124542, "steering_angle": -0.2865658104419708 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.46808560299999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.237993061542511, "y": 2.4880211800336838, "yaw": 0.21247421205043793, "odom_age_sec": 0.028604937, "odom_linear_x": 0.4050000011920929, "odom_angular_z": -0.03358640894293785 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2622806281974554, "yaw_error_to_goal": 0.21247421205043793, "distance_to_plan_end": 0.25419133708636527, "yaw_error_to_plan_end": 1.2275257879495618, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.13480958665526413, "angular_z": -0.3668903921172051 }, "ackermann_cmd": { "speed": -0.13480958342552185, "steering_angle": 0.37114498019218445 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.568186591, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2721298336982727, "y": 2.4952183216810226, "yaw": 0.20950958132743838, "odom_age_sec": 0.028673978000000003, "odom_linear_x": 0.42500001192092896, "odom_angular_z": -0.037258394062519073 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.22792033068140943, "yaw_error_to_goal": 0.20950958132743838, "distance_to_plan_end": 0.22192377492786103, "yaw_error_to_plan_end": 1.2304904186725614, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09965897897028948, "angular_z": -0.368593808099677 }, "ackermann_cmd": { "speed": -0.09965898096561432, "steering_angle": 0.4864937663078308 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.668089371000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3094356656074524, "y": 2.502959296107292, "yaw": 0.20377840101718897, "odom_age_sec": 0.028635729000000002, "odom_linear_x": 0.35899999737739563, "odom_angular_z": -0.07784290611743927 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.19058731063721251, "yaw_error_to_goal": 0.20377840101718894, "distance_to_plan_end": 0.18769940209351002, "yaw_error_to_plan_end": 1.2362215989828107, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.768221610000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3442893624305725, "y": 2.5099273175001144, "yaw": 0.18734905123710632, "odom_age_sec": 0.028732271, "odom_linear_x": 0.27399998903274536, "odom_angular_z": -0.18990640342235565 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.15602677425693862, "yaw_error_to_goal": 0.18734905123710632, "distance_to_plan_end": 0.15723983158941773, "yaw_error_to_plan_end": 1.2526509487628934, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.868184598, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3620699048042297, "y": 2.513132616877556, "yaw": 0.1544767022132873, "odom_age_sec": 0.028707061000000002, "odom_linear_x": 0.18299999833106995, "odom_angular_z": -0.42161715030670166 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.13855387683773743, "yaw_error_to_goal": 0.15447670221328727, "distance_to_plan_end": 0.14245184480829964, "yaw_error_to_plan_end": 1.2855232977867124, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 20.967870836999992, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3760772347450256, "y": 2.515137955546379, "yaw": 0.10530684143304825, "odom_age_sec": 0.028330105, "odom_linear_x": 0.12399999797344208, "odom_angular_z": -0.5477700233459473 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.12484394036781934, "yaw_error_to_goal": 0.10530684143304825, "distance_to_plan_end": 0.13111671908437317, "yaw_error_to_plan_end": 1.3346931585669515, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.068189907999994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3865209221839905, "y": 2.5160661190748215, "yaw": 0.03690202161669731, "odom_age_sec": 0.028637521000000003, "odom_linear_x": 0.07800000160932541, "odom_angular_z": -0.6007519364356995 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11461073808373405, "yaw_error_to_goal": 0.03690202161669731, "distance_to_plan_end": 0.12273337260508883, "yaw_error_to_plan_end": 1.4030979783833024, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.16812910499999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.390512764453888, "y": 2.5161862820386887, "yaw": -0.007242506369948385, "odom_age_sec": 0.02862427, "odom_linear_x": 0.026000000536441803, "odom_angular_z": -0.47326210141181946 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11067723557157452, "yaw_error_to_goal": 0.0072425063699483845, "distance_to_plan_end": 0.1194840214698565, "yaw_error_to_plan_end": 1.4472425063699481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.268263093, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3908644318580627, "y": 2.5161838978528976, "yaw": -0.007242506369948385, "odom_age_sec": 0.028659729000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11032901152179536, "yaw_error_to_goal": 0.0072425063699483845, "distance_to_plan_end": 0.11919259113823705, "yaw_error_to_plan_end": 1.4472425063699481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.368087290000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3908644318580627, "y": 2.5161838978528976, "yaw": -0.007242506369948385, "odom_age_sec": 0.028564270000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11032901152179536, "yaw_error_to_goal": 0.0072425063699483845, "distance_to_plan_end": 0.11919259113823705, "yaw_error_to_plan_end": 1.4472425063699481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.469885441000002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3908644318580627, "y": 2.5161838978528976, "yaw": -0.007242506369948385, "odom_age_sec": 0.030360267000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11032901152179536, "yaw_error_to_goal": 0.0072425063699483845, "distance_to_plan_end": 0.11919259113823705, "yaw_error_to_plan_end": 1.4472425063699481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.570291886999996, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3908644318580627, "y": 2.5161838978528976, "yaw": -0.007242506369948385, "odom_age_sec": 0.030801849000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11032901152179536, "yaw_error_to_goal": 0.0072425063699483845, "distance_to_plan_end": 0.11919259113823705, "yaw_error_to_plan_end": 1.4472425063699481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.668091714000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3908644318580627, "y": 2.5161838978528976, "yaw": -0.007242506369948385, "odom_age_sec": 0.028588853, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11032901152179536, "yaw_error_to_goal": 0.0072425063699483845, "distance_to_plan_end": 0.11919259113823705, "yaw_error_to_plan_end": 1.4472425063699481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.768165742999997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3908644318580627, "y": 2.5161838978528976, "yaw": -0.007242506369948385, "odom_age_sec": 0.028620687000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11032901152179536, "yaw_error_to_goal": 0.0072425063699483845, "distance_to_plan_end": 0.11919259113823705, "yaw_error_to_plan_end": 1.4472425063699481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.86809227399999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3908644318580627, "y": 2.5161838978528976, "yaw": -0.007242506369948385, "odom_age_sec": 0.028596395, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11032901152179536, "yaw_error_to_goal": 0.0072425063699483845, "distance_to_plan_end": 0.11919259113823705, "yaw_error_to_plan_end": 1.4472425063699481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 21.970776588999996, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3908644318580627, "y": 2.5161838978528976, "yaw": -0.007242506369948385, "odom_age_sec": 0.031270389, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11032901152179536, "yaw_error_to_goal": 0.0072425063699483845, "distance_to_plan_end": 0.11919259113823705, "yaw_error_to_plan_end": 1.4472425063699481, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.068100708999992, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.389284908771515, "y": 2.5161951035261154, "yaw": -0.004757468588650227, "odom_age_sec": 0.028658354, "odom_linear_x": -0.01899999938905239, "odom_angular_z": 0.03830081596970558 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11189330991597923, "yaw_error_to_goal": 0.004757468588650227, "distance_to_plan_end": 0.12050435726584431, "yaw_error_to_plan_end": 1.44475746858865, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.168122489000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3880839943885803, "y": 2.5161993950605392, "yaw": 0.0011229473166167732, "odom_age_sec": 0.028705812, "odom_linear_x": -0.013000000268220901, "odom_angular_z": 0.07646095007658005 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11308232714417732, "yaw_error_to_goal": 0.001122947316616773, "distance_to_plan_end": 0.12150361173097714, "yaw_error_to_plan_end": 1.438877052683383, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.268142227, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3862231373786926, "y": 2.5161934345960617, "yaw": 0.011001187376677988, "odom_age_sec": 0.028658853, "odom_linear_x": -0.01899999938905239, "odom_angular_z": 0.11822809278964996 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11492346058122675, "yaw_error_to_goal": 0.011001187376677988, "distance_to_plan_end": 0.12305219740083019, "yaw_error_to_plan_end": 1.4289988126233217, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.369408921, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.382432520389557, "y": 2.5161359757184982, "yaw": 0.028301119804382328, "odom_age_sec": 0.029909643000000003, "odom_linear_x": -0.03200000151991844, "odom_angular_z": 0.14217402040958405 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.11866963374991903, "yaw_error_to_goal": 0.028301119804382328, "distance_to_plan_end": 0.12620858977069596, "yaw_error_to_plan_end": 1.4116988801956174, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.468121037000003, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.377986252307892, "y": 2.5159962624311447, "yaw": 0.04438425973057747, "odom_age_sec": 0.028615854000000003, "odom_linear_x": -0.052000001072883606, "odom_angular_z": 0.175307035446167 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.12305785240137859, "yaw_error_to_goal": 0.04438425973057747, "distance_to_plan_end": 0.12991671862581827, "yaw_error_to_plan_end": 1.3956157402694223, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.56790219199999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.373003304004669, "y": 2.5157587975263596, "yaw": 0.06230263039469719, "odom_age_sec": 0.028426271000000003, "odom_linear_x": -0.057999998331069946, "odom_angular_z": 0.20181451737880707 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.1279707016985031, "yaw_error_to_goal": 0.06230263039469719, "distance_to_plan_end": 0.1340854849831879, "yaw_error_to_plan_end": 1.3776973696053025, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.66802063899999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3669751286506653, "y": 2.5153642147779465, "yaw": 0.08232595771551134, "odom_age_sec": 0.028477979, "odom_linear_x": -0.06499999761581421, "odom_angular_z": 0.24556809663772583 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.1339092061557006, "yaw_error_to_goal": 0.08232595771551134, "distance_to_plan_end": 0.13914937892890328, "yaw_error_to_plan_end": 1.3576740422844884, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.768105002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3585692048072815, "y": 2.5146124809980392, "yaw": 0.11597423255443574, "odom_age_sec": 0.028623188, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.31262508034706116 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.1421836644265534, "yaw_error_to_goal": 0.11597423255443576, "distance_to_plan_end": 0.1462436203438955, "yaw_error_to_plan_end": 1.324025767445564, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.86817124000001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3500242829322815, "y": 2.5135684460401535, "yaw": 0.1525105983018875, "odom_age_sec": 0.028531021, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.38114383816719055 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.15058824136671797, "yaw_error_to_goal": 0.1525105983018875, "distance_to_plan_end": 0.15347621546859772, "yaw_error_to_plan_end": 1.2874894016981122, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 22.968788310000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3423622250556946, "y": 2.5123498886823654, "yaw": 0.18905194103717804, "odom_age_sec": 0.028695687, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.45807546377182007 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.15812080141416657, "yaw_error_to_goal": 0.18905194103717804, "distance_to_plan_end": 0.15996482366233464, "yaw_error_to_plan_end": 1.2509480589628217, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.068121133000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.330935776233673, "y": 2.510043427348137, "yaw": 0.25125354528427124, "odom_age_sec": 0.028638478000000002, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.5566651821136475 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.16936228089692215, "yaw_error_to_goal": 0.25125354528427124, "distance_to_plan_end": 0.16966184637933013, "yaw_error_to_plan_end": 1.1887464547157285, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.16809453799999, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.323233902454376, "y": 2.5080047100782394, "yaw": 0.3007451295852661, "odom_age_sec": 0.028623562, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.5313026309013367 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.17694724814177148, "yaw_error_to_goal": 0.3007451295852661, "distance_to_plan_end": 0.17616849012422406, "yaw_error_to_plan_end": 1.1392548704147336, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.268022067999993, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3156657814979553, "y": 2.505611702799797, "yaw": 0.34813690185546875, "odom_age_sec": 0.028573021, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.49546411633491516 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.18441961750061409, "yaw_error_to_goal": 0.34813690185546875, "distance_to_plan_end": 0.18255307608821555, "yaw_error_to_plan_end": 1.091863098144531, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08, "angular_z": -0.32 }, "ackermann_cmd": { "speed": -0.07999999821186066, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.368678722, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3085139393806458, "y": 2.5029764622449875, "yaw": 0.3960767388343811, "odom_age_sec": 0.028815562000000003, "odom_linear_x": -0.06499999761581421, "odom_angular_z": 0.4454951286315918 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.19150919230944202, "yaw_error_to_goal": 0.3960767388343811, "distance_to_plan_end": 0.18858693469788707, "yaw_error_to_plan_end": 1.0439232611656186, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.081045985895325, "angular_z": -0.3241839435813 }, "ackermann_cmd": { "speed": -0.08104598522186279, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.468226836000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.3018928170204163, "y": 2.5001647919416428, "yaw": 0.4426147043704987, "odom_age_sec": 0.02871227, "odom_linear_x": -0.06499999761581421, "odom_angular_z": 0.3976863622665405 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.1981072515191968, "yaw_error_to_goal": 0.4426147043704987, "distance_to_plan_end": 0.19417368805580304, "yaw_error_to_plan_end": 0.9973852956295011, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08298129455872352, "angular_z": -0.3319251782348941 }, "ackermann_cmd": { "speed": -0.08298129588365555, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.568159866000002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2964490056037903, "y": 2.4975862950086594, "yaw": 0.4736694395542144, "odom_age_sec": 0.028710478, "odom_linear_x": -0.07100000232458115, "odom_angular_z": 0.37167203426361084 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20356530473406076, "yaw_error_to_goal": 0.4736694395542144, "distance_to_plan_end": 0.19877867292753842, "yaw_error_to_plan_end": 0.9663305604457852, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08517192826007215, "angular_z": -0.3406877130402886 }, "ackermann_cmd": { "speed": -0.08517193049192429, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.668117187999997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.289488136768341, "y": 2.4940209835767746, "yaw": 0.509125828742981, "odom_age_sec": 0.028685687, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.35979169607162476 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21059675495755834, "yaw_error_to_goal": 0.509125828742981, "distance_to_plan_end": 0.20471472710858205, "yaw_error_to_plan_end": 0.9308741712570189, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08828404000865958, "angular_z": -0.3531361600346383 }, "ackermann_cmd": { "speed": -0.08828403800725937, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.767827177000015, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2814183831214905, "y": 2.4894965142011642, "yaw": 0.5507125258445741, "odom_age_sec": 0.028384896000000003, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.36124855279922485 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2188338329672765, "yaw_error_to_goal": 0.5507125258445741, "distance_to_plan_end": 0.21167402392610396, "yaw_error_to_plan_end": 0.8892874741554256, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.0904438536438368, "angular_z": -0.3617754145753472 }, "ackermann_cmd": { "speed": -0.09044385701417923, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.868133164, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2754274010658264, "y": 2.4858282059431076, "yaw": 0.5821697115898132, "odom_age_sec": 0.028645312000000003, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.3750097155570984 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2250193145906372, "yaw_error_to_goal": 0.5821697115898132, "distance_to_plan_end": 0.21689827743992185, "yaw_error_to_plan_end": 0.8578302884101865, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09310655827812755, "angular_z": -0.3724262331125102 }, "ackermann_cmd": { "speed": -0.09310656040906906, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 23.967991736000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.268186867237091, "y": 2.4810555428266525, "yaw": 0.6230552196502686, "odom_age_sec": 0.028522354000000003, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.39735692739486694 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2325859432101322, "yaw_error_to_goal": 0.6230552196502686, "distance_to_plan_end": 0.2232946216095876, "yaw_error_to_plan_end": 0.8169447803497313, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09573300517421796, "angular_z": -0.3829320206968718 }, "ackermann_cmd": { "speed": -0.09573300182819366, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.068126557, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.259885609149933, "y": 2.47505883872509, "yaw": 0.6708662509918213, "odom_age_sec": 0.028640728, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.40853527188301086 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.24140625969315682, "yaw_error_to_goal": 0.6708662509918213, "distance_to_plan_end": 0.23075040231664176, "yaw_error_to_plan_end": 0.7691337490081784, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.23701944233034514, "angular_z": -0.9480777693213805 }, "ackermann_cmd": { "speed": 0.23701944947242737, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.169160002000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2551310658454895, "y": 2.4713039845228195, "yaw": 0.7030824422836304, "odom_age_sec": 0.029561144, "odom_linear_x": -0.07100000232458115, "odom_angular_z": 0.4188687801361084 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.24654463331866014, "yaw_error_to_goal": 0.7030824422836304, "distance_to_plan_end": 0.23508414689984858, "yaw_error_to_plan_end": 0.7369175577163694, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.2426521529249297, "angular_z": -0.9706086116997188 }, "ackermann_cmd": { "speed": 0.24265214800834656, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.268339824999998, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2505698800086975, "y": 2.46743206679821, "yaw": 0.7503722310066223, "odom_age_sec": 0.028741937000000002, "odom_linear_x": -0.04500000178813934, "odom_angular_z": 0.4104391932487488 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2515473216552142, "yaw_error_to_goal": 0.7503722310066223, "distance_to_plan_end": 0.23929080137404318, "yaw_error_to_plan_end": 0.6896277689933774, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24642725011354802, "angular_z": -0.9857090004541921 }, "ackermann_cmd": { "speed": 0.2464272528886795, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.368097605000003, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.24918133020401, "y": 2.4661627262830734, "yaw": 0.7733678221702576, "odom_age_sec": 0.028664687, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2530908260107902, "yaw_error_to_goal": 0.7733678221702576, "distance_to_plan_end": 0.24057977368947758, "yaw_error_to_plan_end": 0.6666321778297422, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24861785974274958, "angular_z": -0.9944714389709983 }, "ackermann_cmd": { "speed": 0.24861785769462585, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.468002468999998, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.249415934085846, "y": 2.466387078166008, "yaw": 0.7733678221702576, "odom_age_sec": 0.028487604000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2528284054537527, "yaw_error_to_goal": 0.7733678221702576, "distance_to_plan_end": 0.2403621721361046, "yaw_error_to_plan_end": 0.6666321778297422, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24722966276856476, "angular_z": -0.988918651074259 }, "ackermann_cmd": { "speed": 0.247229665517807, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.568777455000003, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.249415934085846, "y": 2.466387078166008, "yaw": 0.7733678221702576, "odom_age_sec": 0.028720395000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2528284054537527, "yaw_error_to_goal": 0.7733678221702576, "distance_to_plan_end": 0.2403621721361046, "yaw_error_to_plan_end": 0.6666321778297422, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24722966276856476, "angular_z": -0.988918651074259 }, "ackermann_cmd": { "speed": 0.247229665517807, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.66828544500001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.251965343952179, "y": 2.4688392132520676, "yaw": 0.7798351645469666, "odom_age_sec": 0.028706603, "odom_linear_x": 0.04500000178813934, "odom_angular_z": 0.05368225276470184 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.24998436997442663, "yaw_error_to_goal": 0.7798351645469666, "distance_to_plan_end": 0.238014437217771, "yaw_error_to_plan_end": 0.6601648354530332, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24528182928600661, "angular_z": -0.9811273171440265 }, "ackermann_cmd": { "speed": 0.24528183043003082, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.76853509900002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2581778168678284, "y": 2.474875971674919, "yaw": 0.7824683785438538, "odom_age_sec": 0.029019228, "odom_linear_x": 0.09799999743700027, "odom_angular_z": 0.016688495874404907 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.24312380602090167, "yaw_error_to_goal": 0.7824683785438538, "distance_to_plan_end": 0.23242646766863856, "yaw_error_to_plan_end": 0.657531621456146, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.23980569302539242, "angular_z": -0.9592227721015697 }, "ackermann_cmd": { "speed": 0.2398056983947754, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.869062919000015, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.26856929063797, "y": 2.4850016087293625, "yaw": 0.7797565460205079, "odom_age_sec": 0.029536601000000003, "odom_linear_x": 0.12999999523162842, "odom_angular_z": -0.039813850075006485 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.23191620248813913, "yaw_error_to_goal": 0.7797565460205079, "distance_to_plan_end": 0.22352270886827888, "yaw_error_to_plan_end": 0.6602434539794918, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09604190602509471, "angular_z": -0.38416762410037886 }, "ackermann_cmd": { "speed": -0.09604190289974213, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 24.968550784, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.277703583240509, "y": 2.4938350170850754, "yaw": 0.7733272910118104, "odom_age_sec": 0.028845228, "odom_linear_x": 0.15700000524520874, "odom_angular_z": -0.10005674511194229 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2223818875683238, "yaw_error_to_goal": 0.7733272910118104, "distance_to_plan_end": 0.21618398817713938, "yaw_error_to_plan_end": 0.6666727089881892, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.0918886698076041, "angular_z": -0.3675546792304164 }, "ackermann_cmd": { "speed": -0.0918886661529541, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.068332689000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2875495553016663, "y": 2.503209635615349, "yaw": 0.759556770324707, "odom_age_sec": 0.028807854, "odom_linear_x": 0.11699999868869781, "odom_angular_z": -0.14821766316890717 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21247468840617953, "yaw_error_to_goal": 0.759556770324707, "distance_to_plan_end": 0.20881288664174097, "yaw_error_to_plan_end": 0.6804432296752927, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.0893114457553989, "angular_z": -0.3572457830215956 }, "ackermann_cmd": { "speed": -0.08931144326925278, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.16834376, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.294441044330597, "y": 2.5095754116773605, "yaw": 0.7400716543197631, "odom_age_sec": 0.028814103, "odom_linear_x": 0.07800000160932541, "odom_angular_z": -0.19503450393676758 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2057818572291701, "yaw_error_to_goal": 0.7400716543197631, "distance_to_plan_end": 0.20397597691844022, "yaw_error_to_plan_end": 0.6999283456802367, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08728351635344128, "angular_z": -0.3491340654137651 }, "ackermann_cmd": { "speed": -0.08728351444005966, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.269010371999997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.297804892063141, "y": 2.5125632733106613, "yaw": 0.7180968523025513, "odom_age_sec": 0.029491560000000003, "odom_linear_x": 0.03200000151991844, "odom_angular_z": -0.21711081266403198 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20258503772459724, "yaw_error_to_goal": 0.7180968523025513, "distance_to_plan_end": 0.20169355705060815, "yaw_error_to_plan_end": 0.7219031476974485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08617123885109818, "angular_z": -0.3446849554043927 }, "ackermann_cmd": { "speed": -0.0861712396144867, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.368416569999994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.298215687274933, "y": 2.5129151791334152, "yaw": 0.7180968523025513, "odom_age_sec": 0.028787103, "odom_linear_x": 0.006000000052154064, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20219720748312994, "yaw_error_to_goal": 0.7180968523025513, "distance_to_plan_end": 0.20141580521439267, "yaw_error_to_plan_end": 0.7219031476974485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08629108374572335, "angular_z": -0.3451643349828934 }, "ackermann_cmd": { "speed": -0.08629108220338821, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.46830668300001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.298215687274933, "y": 2.5129151791334152, "yaw": 0.7180968523025513, "odom_age_sec": 0.028742103, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20219720748312994, "yaw_error_to_goal": 0.7180968523025513, "distance_to_plan_end": 0.20141580521439267, "yaw_error_to_plan_end": 0.7219031476974485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08632105937759686, "angular_z": -0.34528423751038745 }, "ackermann_cmd": { "speed": -0.08632105588912964, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.568046339000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.298215687274933, "y": 2.5129151791334152, "yaw": 0.7180968523025513, "odom_age_sec": 0.07863099300000001, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20219720748312994, "yaw_error_to_goal": 0.7180968523025513, "distance_to_plan_end": 0.20141580521439267, "yaw_error_to_plan_end": 0.7219031476974485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08632105937759686, "angular_z": -0.34528423751038745 }, "ackermann_cmd": { "speed": -0.08632105588912964, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.668612534000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.298215687274933, "y": 2.5129151791334152, "yaw": 0.7180968523025513, "odom_age_sec": 0.029145478000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20219720748312994, "yaw_error_to_goal": 0.7180968523025513, "distance_to_plan_end": 0.20141580521439267, "yaw_error_to_plan_end": 0.7219031476974485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08632105937759686, "angular_z": -0.34528423751038745 }, "ackermann_cmd": { "speed": -0.08632105588912964, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.76921477100001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.298215687274933, "y": 2.5129151791334152, "yaw": 0.7180968523025513, "odom_age_sec": 0.029750684000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20219720748312994, "yaw_error_to_goal": 0.7180968523025513, "distance_to_plan_end": 0.20141580521439267, "yaw_error_to_plan_end": 0.7219031476974485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08632105937759686, "angular_z": -0.34528423751038745 }, "ackermann_cmd": { "speed": -0.08632105588912964, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.86805672, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.298215687274933, "y": 2.5129151791334152, "yaw": 0.7180968523025513, "odom_age_sec": 0.028636937, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20219720748312994, "yaw_error_to_goal": 0.7180968523025513, "distance_to_plan_end": 0.20141580521439267, "yaw_error_to_plan_end": 0.7219031476974485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08632105937759686, "angular_z": -0.34528423751038745 }, "ackermann_cmd": { "speed": -0.08632105588912964, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 25.968614457, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.298215687274933, "y": 2.5129151791334152, "yaw": 0.7180968523025513, "odom_age_sec": 0.029183894000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20219720748312994, "yaw_error_to_goal": 0.7180968523025513, "distance_to_plan_end": 0.20141580521439267, "yaw_error_to_plan_end": 0.7219031476974485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08632105937759686, "angular_z": -0.34528423751038745 }, "ackermann_cmd": { "speed": -0.08632105588912964, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.069621817000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.298215687274933, "y": 2.5129151791334152, "yaw": 0.7180968523025513, "odom_age_sec": 0.030169558000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.20219720748312994, "yaw_error_to_goal": 0.7180968523025513, "distance_to_plan_end": 0.20141580521439267, "yaw_error_to_plan_end": 0.7219031476974485, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08632105937759686, "angular_z": -0.34528423751038745 }, "ackermann_cmd": { "speed": -0.08632105588912964, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.171064136000012, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2968669533729553, "y": 2.51175694167614, "yaw": 0.7213205695152283, "odom_age_sec": 0.031605180000000004, "odom_linear_x": -0.026000000536441803, "odom_angular_z": 0.03536951541900635 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2034729965119727, "yaw_error_to_goal": 0.7213205695152283, "distance_to_plan_end": 0.2023308304836162, "yaw_error_to_plan_end": 0.7186794304847715, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08664787614352902, "angular_z": -0.3465915045741161 }, "ackermann_cmd": { "speed": -0.0866478756070137, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.268362588000002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2952030301094055, "y": 2.5103190392255783, "yaw": 0.7261742353439331, "odom_age_sec": 0.028885395, "odom_linear_x": -0.026000000536441803, "odom_angular_z": 0.06698618084192276 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2050567761545765, "yaw_error_to_goal": 0.7261742353439331, "distance_to_plan_end": 0.20347270097317552, "yaw_error_to_plan_end": 0.7138257646560666, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08720314670773956, "angular_z": -0.3488125868309582 }, "ackermann_cmd": { "speed": -0.08720314502716064, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.36796591000001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2924349904060364, "y": 2.507895275950432, "yaw": 0.7389764785766602, "odom_age_sec": 0.02859002, "odom_linear_x": -0.03200000151991844, "odom_angular_z": 0.13346797227859497 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2077151140145456, "yaw_error_to_goal": 0.7389764785766602, "distance_to_plan_end": 0.20540123450976935, "yaw_error_to_plan_end": 0.7010235214233397, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08802363310066884, "angular_z": -0.35209453240267535 }, "ackermann_cmd": { "speed": -0.08802363276481628, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.468304689000007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2895501255989075, "y": 2.5052977055311203, "yaw": 0.7540441751480104, "odom_age_sec": 0.027213024000000002, "odom_linear_x": -0.052000001072883606, "odom_angular_z": 0.19395698606967926 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2105165440513645, "yaw_error_to_goal": 0.7540441751480104, "distance_to_plan_end": 0.20744201255788625, "yaw_error_to_plan_end": 0.6859558248519894, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.08900290109621856, "angular_z": -0.3560116043848742 }, "ackermann_cmd": { "speed": -0.08900289982557297, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.570615797000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2846155762672424, "y": 2.5006876438856125, "yaw": 0.7838954925537108, "odom_age_sec": 0.03125439, "odom_linear_x": -0.057999998331069946, "odom_angular_z": 0.26912760734558105 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21538552142798614, "yaw_error_to_goal": 0.7838954925537108, "distance_to_plan_end": 0.2110113956688538, "yaw_error_to_plan_end": 0.6561045074462889, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.0902218960409625, "angular_z": -0.36088758416385 }, "ackermann_cmd": { "speed": -0.09022189676761627, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.668049541000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2798874974250793, "y": 2.496007487177849, "yaw": 0.809313952922821, "odom_age_sec": 0.028694062000000003, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.33361852169036865 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.22014870871397246, "yaw_error_to_goal": 0.809313952922821, "distance_to_plan_end": 0.21451702493242472, "yaw_error_to_plan_end": 0.6306860470771787, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09204020321933142, "angular_z": -0.36816081287732566 }, "ackermann_cmd": { "speed": -0.09204020351171494, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.769843484000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2731156945228577, "y": 2.4889028519392014, "yaw": 0.8487119078636169, "odom_age_sec": 0.030327142, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.3678978681564331 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.22715552990611637, "yaw_error_to_goal": 0.8487119078636169, "distance_to_plan_end": 0.21971769292141638, "yaw_error_to_plan_end": 0.5912880921363829, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09392588597634476, "angular_z": -0.375703543905379 }, "ackermann_cmd": { "speed": -0.09392588585615158, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.868048517000005, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2672470211982727, "y": 2.482247158885002, "yaw": 0.8871151804924011, "odom_age_sec": 0.028678853, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.3909386396408081 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.23342903098957438, "yaw_error_to_goal": 0.8871151804924011, "distance_to_plan_end": 0.22439953534767498, "yaw_error_to_plan_end": 0.5528848195075986, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09641980940364256, "angular_z": -0.38567923761457024 }, "ackermann_cmd": { "speed": -0.0964198112487793, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 26.968166130000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.261623442173004, "y": 2.4753346890211105, "yaw": 0.9275607466697692, "odom_age_sec": 0.028728311000000003, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.41082876920700073 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.23964924553841688, "yaw_error_to_goal": 0.9275607466697692, "distance_to_plan_end": 0.2290558975210347, "yaw_error_to_plan_end": 0.5124392533302305, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.23585081578191244, "angular_z": -0.9434032631276498 }, "ackermann_cmd": { "speed": 0.23585081100463867, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.068204992999995, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.256188690662384, "y": 2.4680686444044113, "yaw": 0.9720477461814881, "odom_age_sec": 0.028723687, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.42839106917381287 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.24589340379744756, "yaw_error_to_goal": 0.9720477461814881, "distance_to_plan_end": 0.23374143447382764, "yaw_error_to_plan_end": 0.4679522538185116, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.23983436628849827, "angular_z": -0.9593374651539931 }, "ackermann_cmd": { "speed": 0.23983436822891235, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.16804289800001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.252021372318268, "y": 2.4619582146406174, "yaw": 1.0136535167694092, "odom_age_sec": 0.028568271000000003, "odom_linear_x": -0.07100000232458115, "odom_angular_z": 0.4416196346282959 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2508796070234575, "yaw_error_to_goal": 1.0136535167694092, "distance_to_plan_end": 0.23747587814894097, "yaw_error_to_plan_end": 0.42634648323059054, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.2444871351164637, "angular_z": -0.9779485404658548 }, "ackermann_cmd": { "speed": 0.24448713660240173, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.267986178, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.250662624835968, "y": 2.459806963801384, "yaw": 1.0390933752059937, "odom_age_sec": 0.028568396000000003, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.25255614586177166, "yaw_error_to_goal": 1.0390933752059937, "distance_to_plan_end": 0.23872296400529724, "yaw_error_to_plan_end": 0.4009066247940061, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24640812475449198, "angular_z": -0.9856324990179679 }, "ackermann_cmd": { "speed": 0.2464081197977066, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.368156166000006, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.250662624835968, "y": 2.459806963801384, "yaw": 1.0390933752059937, "odom_age_sec": 0.028663353000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.25255614586177166, "yaw_error_to_goal": 1.0390933752059937, "distance_to_plan_end": 0.23872296400529724, "yaw_error_to_plan_end": 0.4009066247940061, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24554362011973432, "angular_z": -0.9821744804789373 }, "ackermann_cmd": { "speed": 0.24554361402988434, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.468102611999996, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.250836193561554, "y": 2.460096165537834, "yaw": 1.0390933752059937, "odom_age_sec": 0.028705562, "odom_linear_x": 0.006000000052154064, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2523388960181909, "yaw_error_to_goal": 1.0390933752059937, "distance_to_plan_end": 0.23856319642863594, "yaw_error_to_plan_end": 0.4009066247940061, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24554362011973432, "angular_z": -0.9821744804789373 }, "ackermann_cmd": { "speed": 0.24554361402988434, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.570981636, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.252287447452545, "y": 2.462525174021721, "yaw": 1.044124722480774, "odom_age_sec": 0.031517639, "odom_linear_x": 0.039000000804662704, "odom_angular_z": 0.04974769800901413 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2505311782427047, "yaw_error_to_goal": 1.044124722480774, "distance_to_plan_end": 0.23724252889283798, "yaw_error_to_plan_end": 0.3958752775192258, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24390390778246013, "angular_z": -0.9756156311298405 }, "ackermann_cmd": { "speed": 0.24390390515327454, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.668121422000013, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2562904953956604, "y": 2.469293400645256, "yaw": 1.0470503568649292, "odom_age_sec": 0.028739811, "odom_linear_x": 0.09799999743700027, "odom_angular_z": 0.022838953882455826 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2456363529252651, "yaw_error_to_goal": 1.0470503568649292, "distance_to_plan_end": 0.23374458315321373, "yaw_error_to_plan_end": 0.3929496431350705, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24107529654324505, "angular_z": -0.9643011861729802 }, "ackermann_cmd": { "speed": 0.2410752922296524, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.768094910000002, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.262791931629181, "y": 2.480331465601921, "yaw": 1.0451468229293823, "odom_age_sec": 0.028699729, "odom_linear_x": 0.12399999797344208, "odom_angular_z": -0.03323006629943848 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2380220975993271, "yaw_error_to_goal": 1.0451468229293823, "distance_to_plan_end": 0.22853275630013287, "yaw_error_to_plan_end": 0.3948531770706174, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09821951214846647, "angular_z": -0.3928780485938659 }, "ackermann_cmd": { "speed": -0.09821951389312744, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.868109438999994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2691407799720764, "y": 2.4910326451063156, "yaw": 1.0387499332427979, "odom_age_sec": 0.028679771000000003, "odom_linear_x": 0.13699999451637268, "odom_angular_z": -0.09073783457279205 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2310333156185283, "yaw_error_to_goal": 1.0387499332427979, "distance_to_plan_end": 0.22401923262450632, "yaw_error_to_plan_end": 0.40125006675720193, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09585704275580814, "angular_z": -0.38342817102323257 }, "ackermann_cmd": { "speed": -0.09585703909397125, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 27.97082804600001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.275785982608795, "y": 2.502033993601799, "yaw": 1.0259705781936646, "odom_age_sec": 0.031259098, "odom_linear_x": 0.10400000214576721, "odom_angular_z": -0.12371818721294403 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.22422324305182026, "yaw_error_to_goal": 1.0259705781936646, "distance_to_plan_end": 0.21990233376340096, "yaw_error_to_plan_end": 0.4140294218063352, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09412974513655505, "angular_z": -0.3765189805462202 }, "ackermann_cmd": { "speed": -0.09412974864244461, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.068301372999997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2802262902259827, "y": 2.509177014231682, "yaw": 1.011516809463501, "odom_age_sec": 0.02882602, "odom_linear_x": 0.07100000232458115, "odom_angular_z": -0.17174169421195984 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2199652270201872, "yaw_error_to_goal": 1.011516809463501, "distance_to_plan_end": 0.2174736443718714, "yaw_error_to_plan_end": 0.42848319053649875, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09288295265413327, "angular_z": -0.37153181061653306 }, "ackermann_cmd": { "speed": -0.09288295358419418, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.168626985999992, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.282769501209259, "y": 2.5131268948316574, "yaw": 0.9886210560798644, "odom_age_sec": 0.028987519000000003, "odom_linear_x": 0.026000000536441803, "odom_angular_z": -0.19101247191429138 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21762675610502377, "yaw_error_to_goal": 0.9886210560798644, "distance_to_plan_end": 0.21617556349356604, "yaw_error_to_plan_end": 0.45137894392013533, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09251670593521764, "angular_z": -0.3700668237408706 }, "ackermann_cmd": { "speed": -0.0925167053937912, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.26812322500001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.282689392566681, "y": 2.5130074471235275, "yaw": 0.9886210560798644, "odom_age_sec": 0.028727853, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21769954934199906, "yaw_error_to_goal": 0.9886210560798644, "distance_to_plan_end": 0.21621649122146497, "yaw_error_to_plan_end": 0.45137894392013533, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.0926702579663497, "angular_z": -0.3706810318653988 }, "ackermann_cmd": { "speed": -0.0926702544093132, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.369033752000007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.282689392566681, "y": 2.5130074471235275, "yaw": 0.9886210560798644, "odom_age_sec": 0.02949181, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21769954934199906, "yaw_error_to_goal": 0.9886210560798644, "distance_to_plan_end": 0.21621649122146497, "yaw_error_to_plan_end": 0.45137894392013533, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09266421052348499, "angular_z": -0.37065684209393995 }, "ackermann_cmd": { "speed": -0.0926642119884491, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.468168200999997, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.282689392566681, "y": 2.5130074471235275, "yaw": 0.9886210560798644, "odom_age_sec": 0.028715353000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21769954934199906, "yaw_error_to_goal": 0.9886210560798644, "distance_to_plan_end": 0.21621649122146497, "yaw_error_to_plan_end": 0.45137894392013533, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09266421052348499, "angular_z": -0.37065684209393995 }, "ackermann_cmd": { "speed": -0.0926642119884491, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.568291188000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.282492458820343, "y": 2.5127141922712326, "yaw": 0.9886210560798644, "odom_age_sec": 0.028731520000000003, "odom_linear_x": -0.006000000052154064, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21787882218134477, "yaw_error_to_goal": 0.9886210560798644, "distance_to_plan_end": 0.21631759339918163, "yaw_error_to_plan_end": 0.45137894392013533, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.0927118297050243, "angular_z": -0.3708473188200972 }, "ackermann_cmd": { "speed": -0.09271182864904404, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.668206843000007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.282492458820343, "y": 2.5127141922712326, "yaw": 0.9886210560798644, "odom_age_sec": 0.028754770000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21787882218134477, "yaw_error_to_goal": 0.9886210560798644, "distance_to_plan_end": 0.21631759339918163, "yaw_error_to_plan_end": 0.45137894392013533, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.0927075400282207, "angular_z": -0.3708301601128828 }, "ackermann_cmd": { "speed": -0.09270753711462021, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.770205077000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.282492458820343, "y": 2.5127141922712326, "yaw": 0.9886210560798644, "odom_age_sec": 0.030879641000000003, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21787882218134477, "yaw_error_to_goal": 0.9886210560798644, "distance_to_plan_end": 0.21631759339918163, "yaw_error_to_plan_end": 0.45137894392013533, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.0927075400282207, "angular_z": -0.3708301601128828 }, "ackermann_cmd": { "speed": -0.09270753711462021, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.86836686000001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2818363308906555, "y": 2.5117354840040207, "yaw": 0.9914018511772155, "odom_age_sec": 0.028944395, "odom_linear_x": -0.013000000268220901, "odom_angular_z": 0.03114413097500801 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21847907932811364, "yaw_error_to_goal": 0.9914018511772155, "distance_to_plan_end": 0.21665776862762948, "yaw_error_to_plan_end": 0.44859814882278426, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09283914557423084, "angular_z": -0.37135658229692337 }, "ackermann_cmd": { "speed": -0.09283914417028427, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 28.968159849000017, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2809718251228333, "y": 2.510438248515129, "yaw": 0.9952290654182434, "odom_age_sec": 0.028765020000000002, "odom_linear_x": -0.013000000268220901, "odom_angular_z": 0.053826939314603806 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.21927676215706565, "yaw_error_to_goal": 0.9952290654182434, "distance_to_plan_end": 0.21711273950489712, "yaw_error_to_plan_end": 0.4447709345817563, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09312451839443177, "angular_z": -0.3724980735777271 }, "ackermann_cmd": { "speed": -0.09312451630830765, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.068204503000004, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.279099762439728, "y": 2.5075912922620773, "yaw": 1.0069947242736816, "odom_age_sec": 0.028735436000000003, "odom_linear_x": -0.03200000151991844, "odom_angular_z": 0.11376737058162689 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.22103063740665677, "yaw_error_to_goal": 1.0069947242736816, "distance_to_plan_end": 0.21812268732420687, "yaw_error_to_plan_end": 0.4330052757263181, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09343157827367976, "angular_z": -0.37372631309471904 }, "ackermann_cmd": { "speed": -0.09343157708644867, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.16813640800001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.277198374271393, "y": 2.5046220272779465, "yaw": 1.0217617750167847, "odom_age_sec": 0.028786020000000002, "odom_linear_x": -0.039000000804662704, "odom_angular_z": 0.17590875923633575 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2228495626279496, "yaw_error_to_goal": 1.0217617750167847, "distance_to_plan_end": 0.2191780811458323, "yaw_error_to_plan_end": 0.41823822498321506, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09391072045172, "angular_z": -0.37564288180688 }, "ackermann_cmd": { "speed": -0.09391072392463684, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.268072770999993, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.274759352207184, "y": 2.500658318400383, "yaw": 1.0477639436721802, "odom_age_sec": 0.028754770000000002, "odom_linear_x": -0.039000000804662704, "odom_angular_z": 0.23496311902999878 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.22524160983540262, "yaw_error_to_goal": 1.0477639436721802, "distance_to_plan_end": 0.22057050891210575, "yaw_error_to_plan_end": 0.39223605632781955, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.0944908087615024, "angular_z": -0.3779632350460096 }, "ackermann_cmd": { "speed": -0.09449081122875214, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.36828788400001, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.272015392780304, "y": 2.4959290474653244, "yaw": 1.0716392993927002, "odom_age_sec": 0.028873811000000003, "odom_linear_x": -0.06499999761581421, "odom_angular_z": 0.2719320058822632 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.22802095031741856, "yaw_error_to_goal": 1.0716392993927002, "distance_to_plan_end": 0.2221855970999583, "yaw_error_to_plan_end": 0.36836070060729953, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09508661614291149, "angular_z": -0.38034646457164595 }, "ackermann_cmd": { "speed": -0.09508661925792694, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.470170326000016, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2686851620674133, "y": 2.4898522347211838, "yaw": 1.0982110500335693, "odom_age_sec": 0.030802099000000003, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.3159773051738739 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2315373218034898, "yaw_error_to_goal": 1.0982110500335693, "distance_to_plan_end": 0.22424716190574392, "yaw_error_to_plan_end": 0.3417889499664304, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09629144051269882, "angular_z": -0.3851657620507953 }, "ackermann_cmd": { "speed": -0.0962914377450943, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.570269730000007, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2644084095954895, "y": 2.4814660996198654, "yaw": 1.1353726387023926, "odom_age_sec": 0.030838723000000002, "odom_linear_x": -0.08500000089406967, "odom_angular_z": 0.3544490337371826 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.2363194933403239, "yaw_error_to_goal": 1.1353726387023926, "distance_to_plan_end": 0.22709274980209737, "yaw_error_to_plan_end": 0.30462736129760715, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": -0.09733786336389345, "angular_z": -0.3893514534555738 }, "ackermann_cmd": { "speed": -0.09733786433935165, "steering_angle": 0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.668130305999995, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2606917023658752, "y": 2.473480984568596, "yaw": 1.1700294017791748, "odom_age_sec": 0.028743937, "odom_linear_x": -0.09099999815225601, "odom_angular_z": 0.3932163417339325 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.240773170216272, "yaw_error_to_goal": 1.1700294017791748, "distance_to_plan_end": 0.22977422417342602, "yaw_error_to_plan_end": 0.2699705982208249, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.23703985337543687, "angular_z": -0.9481594135017475 }, "ackermann_cmd": { "speed": 0.23703984916210175, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.768315252000008, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2569571137428284, "y": 2.4645572155714035, "yaw": 1.2182127237319946, "odom_age_sec": 0.028808103, "odom_linear_x": -0.07800000160932541, "odom_angular_z": 0.4133113622665405 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.24561358986885973, "yaw_error_to_goal": 1.2182127237319946, "distance_to_plan_end": 0.23271037136856063, "yaw_error_to_plan_end": 0.2217872762680051, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.2394860545900311, "angular_z": -0.9579442183601244 }, "ackermann_cmd": { "speed": 0.23948605358600616, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.868201907000014, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.2556715607643127, "y": 2.4610596150159836, "yaw": 1.261182188987732, "odom_age_sec": 0.028744353, "odom_linear_x": -0.026000000536441803, "odom_angular_z": 0.4239133596420288 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.24741208499596443, "yaw_error_to_goal": 1.261182188987732, "distance_to_plan_end": 0.23378230755265844, "yaw_error_to_plan_end": 0.1788178110122678, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24050478843469178, "angular_z": -0.9620191537387671 }, "ackermann_cmd": { "speed": 0.24050478637218475, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 29.969981766000018, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.255613625049591, "y": 2.460881993174553, "yaw": 1.261182188987732, "odom_age_sec": 0.030554516, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.24749731052962493, "yaw_error_to_goal": 1.261182188987732, "distance_to_plan_end": 0.23383085821827032, "yaw_error_to_plan_end": 0.1788178110122678, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.2405968519539968, "angular_z": -0.9623874078159872 }, "ackermann_cmd": { "speed": 0.24059684574604034, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" }, { "elapsed_sec": 30.068142507999994, "pose_map": { "available": true, "frame_id": "map", "source_frame": "odom", "x": 2.255613625049591, "y": 2.460881993174553, "yaw": 1.261182188987732, "odom_age_sec": 0.028730270000000002, "odom_linear_x": 0.0, "odom_angular_z": 0.0 }, "goal": { "elapsed_sec": 8.285738312000007, "frame_id": "map", "x": 2.5, "y": 2.5, "yaw": 0.0 }, "plan_end": { "x": 2.4891280806059726, "y": 2.4487218409839113, "yaw": 1.4399999999999997 }, "distance_to_goal": 0.24749731052962493, "yaw_error_to_goal": 1.261182188987732, "distance_to_plan_end": 0.23383085821827032, "yaw_error_to_plan_end": 0.1788178110122678, "plan_end_to_goal": 0.05241801430223684, "plan_end_yaw_to_goal": 1.4399999999999997, "cmd_vel": { "linear_x": 0.24051173988164948, "angular_z": -0.9620469595265979 }, "ackermann_cmd": { "speed": 0.24051174521446228, "steering_angle": -0.5195767879486084 }, "planner_status": "plan_ok hybrid_astar points=121 iterations=48 obstacles=0 planning_ms=63.388 goal_error=0.052 yaw_error=1.440", "tracker_status": "external_plan_ok points=121 length=3.599 goal=(2.489,2.449,1.440)" } ] }