11253 lines
330 KiB
JSON
11253 lines
330 KiB
JSON
{
|
|
"metadata": {
|
|
"started_wall_time": 1784711286.6651564,
|
|
"duration_sec": 30.140174545000264,
|
|
"output_path": "/home/sunrise/yiliao_ws/test_results/reach_fail_debug_20260722_170806.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": "goal_reach_debug_collector",
|
|
"node_namespace": "/",
|
|
"topic_type": "nav_msgs/msg/Odometry"
|
|
},
|
|
{
|
|
"node_name": "planner_odom_map_tf",
|
|
"node_namespace": "/",
|
|
"topic_type": "nav_msgs/msg/Odometry"
|
|
},
|
|
{
|
|
"node_name": "grid_astar_theta_planner",
|
|
"node_namespace": "/",
|
|
"topic_type": "nav_msgs/msg/Odometry"
|
|
},
|
|
{
|
|
"node_name": "topology_pure_pursuit",
|
|
"node_namespace": "/",
|
|
"topic_type": "nav_msgs/msg/Odometry"
|
|
}
|
|
]
|
|
},
|
|
"/goal_pose": {
|
|
"publisher_count": 1,
|
|
"subscriber_count": 3,
|
|
"publishers": [
|
|
{
|
|
"node_name": "foxglove_bridge",
|
|
"node_namespace": "/",
|
|
"topic_type": "geometry_msgs/msg/PoseStamped"
|
|
}
|
|
],
|
|
"subscribers": [
|
|
{
|
|
"node_name": "foxglove_bridge",
|
|
"node_namespace": "/",
|
|
"topic_type": "geometry_msgs/msg/PoseStamped"
|
|
},
|
|
{
|
|
"node_name": "goal_reach_debug_collector",
|
|
"node_namespace": "/",
|
|
"topic_type": "geometry_msgs/msg/PoseStamped"
|
|
},
|
|
{
|
|
"node_name": "grid_astar_theta_planner",
|
|
"node_namespace": "/",
|
|
"topic_type": "geometry_msgs/msg/PoseStamped"
|
|
}
|
|
]
|
|
},
|
|
"/plan": {
|
|
"publisher_count": 2,
|
|
"subscriber_count": 3,
|
|
"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": "foxglove_bridge",
|
|
"node_namespace": "/",
|
|
"topic_type": "nav_msgs/msg/Path"
|
|
},
|
|
{
|
|
"node_name": "goal_reach_debug_collector",
|
|
"node_namespace": "/",
|
|
"topic_type": "nav_msgs/msg/Path"
|
|
},
|
|
{
|
|
"node_name": "topology_pure_pursuit",
|
|
"node_namespace": "/",
|
|
"topic_type": "nav_msgs/msg/Path"
|
|
}
|
|
]
|
|
},
|
|
"/planner_cmd_vel": {
|
|
"publisher_count": 1,
|
|
"subscriber_count": 2,
|
|
"publishers": [
|
|
{
|
|
"node_name": "topology_pure_pursuit",
|
|
"node_namespace": "/",
|
|
"topic_type": "geometry_msgs/msg/Twist"
|
|
}
|
|
],
|
|
"subscribers": [
|
|
{
|
|
"node_name": "goal_reach_debug_collector",
|
|
"node_namespace": "/",
|
|
"topic_type": "geometry_msgs/msg/Twist"
|
|
},
|
|
{
|
|
"node_name": "planner_ackermann_cmd_bridge",
|
|
"node_namespace": "/",
|
|
"topic_type": "geometry_msgs/msg/Twist"
|
|
}
|
|
]
|
|
},
|
|
"/ackermann_cmd": {
|
|
"publisher_count": 1,
|
|
"subscriber_count": 2,
|
|
"publishers": [
|
|
{
|
|
"node_name": "planner_ackermann_cmd_bridge",
|
|
"node_namespace": "/",
|
|
"topic_type": "ackermann_msgs/msg/AckermannDriveStamped"
|
|
}
|
|
],
|
|
"subscribers": [
|
|
{
|
|
"node_name": "goal_reach_debug_collector",
|
|
"node_namespace": "/",
|
|
"topic_type": "ackermann_msgs/msg/AckermannDriveStamped"
|
|
},
|
|
{
|
|
"node_name": "origincar_base",
|
|
"node_namespace": "/",
|
|
"topic_type": "ackermann_msgs/msg/AckermannDriveStamped"
|
|
}
|
|
]
|
|
},
|
|
"/hybrid_astar_status": {
|
|
"publisher_count": 1,
|
|
"subscriber_count": 1,
|
|
"publishers": [
|
|
{
|
|
"node_name": "grid_astar_theta_planner",
|
|
"node_namespace": "/",
|
|
"topic_type": "std_msgs/msg/String"
|
|
}
|
|
],
|
|
"subscribers": [
|
|
{
|
|
"node_name": "goal_reach_debug_collector",
|
|
"node_namespace": "/",
|
|
"topic_type": "std_msgs/msg/String"
|
|
}
|
|
]
|
|
},
|
|
"/pure_pursuit_status": {
|
|
"publisher_count": 1,
|
|
"subscriber_count": 1,
|
|
"publishers": [
|
|
{
|
|
"node_name": "topology_pure_pursuit",
|
|
"node_namespace": "/",
|
|
"topic_type": "std_msgs/msg/String"
|
|
}
|
|
],
|
|
"subscribers": [
|
|
{
|
|
"node_name": "goal_reach_debug_collector",
|
|
"node_namespace": "/",
|
|
"topic_type": "std_msgs/msg/String"
|
|
}
|
|
]
|
|
}
|
|
},
|
|
"remote_parameters": {
|
|
"planner": {
|
|
"node": "/grid_astar_theta_planner",
|
|
"service": "/grid_astar_theta_planner/get_parameters",
|
|
"error": "parameter_service_unavailable"
|
|
},
|
|
"tracker": {
|
|
"node": "/topology_pure_pursuit",
|
|
"service": "/topology_pure_pursuit/get_parameters",
|
|
"values": {
|
|
"goal_tolerance": 0.1,
|
|
"goal_yaw_tolerance": 0.174533,
|
|
"align_goal_yaw": false,
|
|
"publish_cmd_vel": true,
|
|
"cmd_vel_topic": "/planner_cmd_vel",
|
|
"lookahead_distance": 0.3,
|
|
"linear_speed": 0.25,
|
|
"min_linear_speed": 0.05,
|
|
"reverse_speed": 0.12,
|
|
"slowdown_distance": 0.7,
|
|
"curvature_slowdown_gain": 0.25,
|
|
"min_turning_radius": 0.25,
|
|
"max_angular_speed": 1.8
|
|
}
|
|
}
|
|
},
|
|
"latest": {
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan": {
|
|
"frame_id": "map",
|
|
"points": 69,
|
|
"length": 2.0399280129588897,
|
|
"start": {
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
"end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"reverse_segment_fraction": 1.0
|
|
},
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.6533724665641785,
|
|
"y": 1.0033272951841354,
|
|
"yaw": 0.8597542643547058,
|
|
"odom_age_sec": 0.043011119,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.10160456597805023
|
|
},
|
|
"cmd_vel": {
|
|
"linear_x": -0.10170777646578139,
|
|
"angular_z": -0.062015379409347086
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.10170777887105942,
|
|
"steering_angle": 0.08697296679019928
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)",
|
|
"last_plan_ok": {
|
|
"points": 69,
|
|
"iterations": 242,
|
|
"planning_ms": 185.361,
|
|
"goal_error": 0.045,
|
|
"yaw_error": 0.984
|
|
},
|
|
"plan_points": [
|
|
{
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.3620182194925314,
|
|
"y": 1.4572697023741217,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.3357431130840314,
|
|
"y": 1.4427914848311367,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.309468006675531,
|
|
"y": 1.4283132672881518,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.283192900267031,
|
|
"y": 1.4138350497451668,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.256917793858531,
|
|
"y": 1.3993568322021819,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.230642687450031,
|
|
"y": 1.384878614659197,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.2043675810415309,
|
|
"y": 1.370400397116212,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.1780924746330306,
|
|
"y": 1.355922179573227,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.1518173682245305,
|
|
"y": 1.341443962030242,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.1255422618160305,
|
|
"y": 1.3269657444872571,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.0992671554075302,
|
|
"y": 1.3124875269442722,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.0729920489990301,
|
|
"y": 1.2980093094012872,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.04671694259053,
|
|
"y": 1.2835310918583023,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 1.02044183618203,
|
|
"y": 1.2690528743153173,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.9941667297735298,
|
|
"y": 1.2545746567723324,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.9678916233650298,
|
|
"y": 1.2400964392293474,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.9416165169565297,
|
|
"y": 1.2256182216863625,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.9153414105480295,
|
|
"y": 1.2111400041433775,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.8890663041395295,
|
|
"y": 1.1966617866003926,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.8627911977310294,
|
|
"y": 1.1821835690574076,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.8365160913225294,
|
|
"y": 1.1677053515144227,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.8102409849140292,
|
|
"y": 1.1532271339714377,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.7839658785055291,
|
|
"y": 1.1387489164284528,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.7576907720970291,
|
|
"y": 1.1242706988854678,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
{
|
|
"x": 0.7323463316772438,
|
|
"y": 1.1082525885701193,
|
|
"yaw": 0.6236291480064392
|
|
},
|
|
{
|
|
"x": 0.709101715700045,
|
|
"y": 1.0893156314138264,
|
|
"yaw": 0.7436291480064392
|
|
},
|
|
{
|
|
"x": 0.6882912451612908,
|
|
"y": 1.0677321925260506,
|
|
"yaw": 0.8636291480064391
|
|
},
|
|
{
|
|
"x": 0.6702142314043743,
|
|
"y": 1.043812700643927,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.6535940847848591,
|
|
"y": 1.0188372982178235,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.6369739381653439,
|
|
"y": 0.99386189579172,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.6203537915458287,
|
|
"y": 0.9688864933656165,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.6037336449263135,
|
|
"y": 0.943911090939513,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.5871134983067984,
|
|
"y": 0.9189356885134095,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.5704933516872831,
|
|
"y": 0.8939602860873059,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.5538732050677679,
|
|
"y": 0.8689848836612024,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.5372530584482528,
|
|
"y": 0.8440094812350989,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.5206329118287376,
|
|
"y": 0.8190340788089954,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.5040127652092223,
|
|
"y": 0.7940586763828918,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.48739261858970717,
|
|
"y": 0.7690832739567883,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.470772471970192,
|
|
"y": 0.7441078715306848,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.4541523253506768,
|
|
"y": 0.7191324691045813,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.4375321787311616,
|
|
"y": 0.6941570666784778,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.4209120321116464,
|
|
"y": 0.6691816642523742,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.40429188549213124,
|
|
"y": 0.6442062618262707,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.387671738872616,
|
|
"y": 0.6192308594001672,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.37105159225310086,
|
|
"y": 0.5942554569740637,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.35443144563358564,
|
|
"y": 0.5692800545479602,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.3378112990140705,
|
|
"y": 0.5443046521218566,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.32119115239455526,
|
|
"y": 0.5193292496957531,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.3045710057750401,
|
|
"y": 0.4943538472696496,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.2879508591555249,
|
|
"y": 0.46937844484354607,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.2713307125360097,
|
|
"y": 0.44440304241744255,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.2547105659164945,
|
|
"y": 0.41942763999133903,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.23809041929697933,
|
|
"y": 0.3944522375652355,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.2214702726774641,
|
|
"y": 0.369476835139132,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.20485012605794892,
|
|
"y": 0.34450143271302847,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.18822997943843373,
|
|
"y": 0.31952603028692494,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.1716098328189185,
|
|
"y": 0.2945506278608214,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.15498968619940331,
|
|
"y": 0.2695752254347179,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.13836953957988812,
|
|
"y": 0.24459982300861438,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.12174939296037293,
|
|
"y": 0.21962442058251086,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.10512924634085773,
|
|
"y": 0.19464901815640734,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.08850909972134252,
|
|
"y": 0.16967361573030382,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.07188895310182733,
|
|
"y": 0.1446982133042003,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.05526880648231213,
|
|
"y": 0.11972281087809677,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.03864865986279693,
|
|
"y": 0.09474740845199325,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.022028513243281728,
|
|
"y": 0.06977200602588975,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
{
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
}
|
|
]
|
|
},
|
|
"metrics": {
|
|
"sample_count": 286,
|
|
"goal_count": 1,
|
|
"plan_count": 1,
|
|
"planner_status_count": 3,
|
|
"tracker_status_count": 2,
|
|
"min_distance_to_goal": 1.1973141782028942,
|
|
"min_distance_to_plan_end": 1.156995488980298,
|
|
"final_distance_to_goal": 1.1973141782028942,
|
|
"final_distance_to_plan_end": 1.156995488980298,
|
|
"final_plan_end_to_goal": 0.045121902925446884,
|
|
"final_plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"max_abs_cmd_linear": 0.2499903621502548,
|
|
"max_abs_cmd_angular": 0.11981649576629748,
|
|
"max_abs_ackermann_speed": 0.24999035894870758,
|
|
"max_abs_steering_angle": 0.3301345109939575,
|
|
"tf_failures": 12,
|
|
"saw_plan_ok": true,
|
|
"saw_plan_failed": false,
|
|
"saw_goal_reached": true,
|
|
"saw_align_goal_yaw": false,
|
|
"saw_no_recent_odom": false
|
|
},
|
|
"diagnostic_hints": [
|
|
"TF 查询失败 12 次;需要检查 map->odom 和 odom frame。"
|
|
],
|
|
"events": {
|
|
"goals": [
|
|
{
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
}
|
|
],
|
|
"plans": [
|
|
{
|
|
"frame_id": "map",
|
|
"points": 69,
|
|
"length": 2.0399280129588897,
|
|
"start": {
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392
|
|
},
|
|
"end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"reverse_segment_fraction": 1.0,
|
|
"elapsed_sec": 21.10629178900126
|
|
}
|
|
],
|
|
"planner_status": [
|
|
{
|
|
"elapsed_sec": 20.896855640001377,
|
|
"data": "goal_received map=(0.000,0.000,0.000)"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.899682134000614,
|
|
"data": "plan_start start=(1.388,1.472,0.504) goal=(0.000,0.000,0.000) 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": 21.12377496100089,
|
|
"data": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"parsed_plan_ok": {
|
|
"points": 69,
|
|
"iterations": 242,
|
|
"planning_ms": 185.361,
|
|
"goal_error": 0.045,
|
|
"yaw_error": 0.984
|
|
}
|
|
}
|
|
],
|
|
"tracker_status": [
|
|
{
|
|
"elapsed_sec": 6.032497209000212,
|
|
"data": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.186314623000726,
|
|
"data": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
}
|
|
]
|
|
},
|
|
"samples": [
|
|
{
|
|
"elapsed_sec": 1.45649344100093,
|
|
"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": 1.6623749720001797,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.24666822499912439,
|
|
"angular_z": -0.013149488408999073
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.2459646761417389,
|
|
"steering_angle": -0.00923254992812872
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 1.773750492000545,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.24596468010741418,
|
|
"angular_z": -0.015880738664175293
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.24753645062446594,
|
|
"steering_angle": -0.005636526271700859
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 1.9037443890010763,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.2475364572715864,
|
|
"angular_z": -0.0097570662292589
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.24699299037456512,
|
|
"steering_angle": -0.006879913154989481
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.043618266001431,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.2469929975292159,
|
|
"angular_z": -0.011883336861387529
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.2467603236436844,
|
|
"steering_angle": -0.00741222919896245
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.16991612899983,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.24676033003899397,
|
|
"angular_z": -0.01279075246072423
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.24833492934703827,
|
|
"steering_angle": -0.0038096474017947912
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.293560623000303,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.24833493622019703,
|
|
"angular_z": -0.006615896120958867
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.24874843657016754,
|
|
"steering_angle": -0.002863561036065221
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.407252304001304,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.2487484402318031,
|
|
"angular_z": -0.004981176643133757
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.24977199733257294,
|
|
"steering_angle": 0.0005216551362536848
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.5205891109999357,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.24977200386601553,
|
|
"angular_z": 0.0009111528201441231
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.24999035894870758,
|
|
"steering_angle": -2.205139935540501e-05
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.6322287960010726,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.2499903621502548,
|
|
"angular_z": -3.8549912770395034e-05
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.2457057386636734,
|
|
"steering_angle": 0.0037561918143182993
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.7462931430000026,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.24570573893346792,
|
|
"angular_z": 0.006454001655608268
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.2428276091814041,
|
|
"steering_angle": 0.004067003261297941
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.8577122460010287,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.24282761221172053,
|
|
"angular_z": 0.0069061965055160525
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.2372836023569107,
|
|
"steering_angle": 0.004687072709202766
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.973566631000722,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "tf_unavailable",
|
|
"source_frame": "odom"
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.2372835966831393,
|
|
"angular_z": 0.007777437537256937
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.23021315038204193,
|
|
"steering_angle": 0.008611305616796017
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 2.9814529060004133,
|
|
"pose_map": {
|
|
"available": false,
|
|
"reason": "odom_too_old",
|
|
"age_sec": 2.074080661
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.23021315228249545,
|
|
"angular_z": 0.013863530655858027
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.225516214966774,
|
|
"steering_angle": 0.010402305983006954
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.0664525629999844,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.0263494849205017,
|
|
"y": 1.0948726385831833,
|
|
"yaw": 0.9221821427345275,
|
|
"odom_age_sec": 1.9081913380000002,
|
|
"odom_linear_x": 0.2549999952316284,
|
|
"odom_angular_z": 0.005229663103818893
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.20759052546505236,
|
|
"angular_z": 0.024641699078167944
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.19412022829055786,
|
|
"steering_angle": 0.020441558212041855
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.1521569690012257,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.0660943388938904,
|
|
"y": 1.146498128771782,
|
|
"yaw": 0.9282621145248413,
|
|
"odom_age_sec": 1.6938534490000001,
|
|
"odom_linear_x": 0.2150000035762787,
|
|
"odom_angular_z": 0.02858538180589676
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.17745631637804316,
|
|
"angular_z": 0.018675670548463988
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.17213314771652222,
|
|
"steering_angle": 0.014201288111507893
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.2494213090012636,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.1119034886360168,
|
|
"y": 1.207087680697441,
|
|
"yaw": 0.9377577304840088,
|
|
"odom_age_sec": 1.43316053,
|
|
"odom_linear_x": 0.19599999487400055,
|
|
"odom_angular_z": 0.020087402313947678
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.13154248140511526,
|
|
"angular_z": -0.058792602175291336
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.12766847014427185,
|
|
"steering_angle": -0.0682806447148323
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.346050109001226,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.151591718196869,
|
|
"y": 1.260402724146843,
|
|
"yaw": 0.9415088295936586,
|
|
"odom_age_sec": 1.187893622,
|
|
"odom_linear_x": 0.17000000178813934,
|
|
"odom_angular_z": -0.001990094780921936
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.09056721199741673,
|
|
"angular_z": -0.10390646443878027
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.08018799126148224,
|
|
"steering_angle": -0.20010694861412048
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.4484548550008185,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.184769332408905,
|
|
"y": 1.3050131052732468,
|
|
"yaw": 0.9381368160247803,
|
|
"odom_age_sec": 0.9333408990000001,
|
|
"odom_linear_x": 0.15000000596046448,
|
|
"odom_angular_z": -0.018835484981536865
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05,
|
|
"angular_z": -0.11148973770917177
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05000000074505806,
|
|
"steering_angle": -0.3179079592227936
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.5491456050003762,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2137156128883362,
|
|
"y": 1.3433187454938889,
|
|
"yaw": 0.921277940273285,
|
|
"odom_age_sec": 0.671634817,
|
|
"odom_linear_x": 0.11699999868869781,
|
|
"odom_angular_z": -0.08530804514884949
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05,
|
|
"angular_z": -0.10237251126583641
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05000000074505806,
|
|
"steering_angle": -0.27660199999809265
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.6469929440008855,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.242189109325409,
|
|
"y": 1.377828761935234,
|
|
"yaw": 0.822753369808197,
|
|
"odom_age_sec": 0.28823057,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": -0.27302637696266174
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05,
|
|
"angular_z": -0.09603519572337417
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05000000074505806,
|
|
"steering_angle": -0.2680507004261017
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.744498033000127,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.25686913728714,
|
|
"y": 1.3921359032392502,
|
|
"yaw": 0.7307562828063964,
|
|
"odom_age_sec": 0.031569893,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": -0.2397262454032898
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05,
|
|
"angular_z": -0.08811605544718466
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05000000074505806,
|
|
"steering_angle": -0.24687133729457855
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.8399956690009276,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2601520419120789,
|
|
"y": 1.3949894160032272,
|
|
"yaw": 0.7102856040000916,
|
|
"odom_age_sec": 0.021967621,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.23217415809631348
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05,
|
|
"angular_z": -0.08354819197858884
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05000000074505806,
|
|
"steering_angle": -0.22499901056289673
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 3.9453626170015923,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.264909565448761,
|
|
"y": 1.3989539593458176,
|
|
"yaw": 0.685171127319336,
|
|
"odom_age_sec": 0.027464818000000002,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.22766491770744324
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05,
|
|
"angular_z": -0.07444685818678662
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05000000074505806,
|
|
"steering_angle": -0.2097853124141693
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.047161865000817,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2686659693717957,
|
|
"y": 1.401933714747429,
|
|
"yaw": 0.6652811765670777,
|
|
"odom_age_sec": 0.038989419000000004,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.21636450290679932
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05,
|
|
"angular_z": -0.06765757718646058
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05000000074505806,
|
|
"steering_angle": -0.19113846123218536
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.147933197000384,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2726160883903503,
|
|
"y": 1.4049379080533981,
|
|
"yaw": 0.6448282003402711,
|
|
"odom_age_sec": 0.033406431,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.19982697069644928
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05125005214220363,
|
|
"angular_z": -0.06210200290757309
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05125005170702934,
|
|
"steering_angle": -0.1715758591890335
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.246497243000704,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2771596312522888,
|
|
"y": 1.408256933093071,
|
|
"yaw": 0.6258426308631897,
|
|
"odom_age_sec": 0.034735345,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.18698863685131073
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05161848395084599,
|
|
"angular_z": -0.05677128558999895
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.051618482917547226,
|
|
"steering_angle": -0.15599709749221802
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.344624957000633,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2815199494361877,
|
|
"y": 1.4113176316022873,
|
|
"yaw": 0.6079052090644836,
|
|
"odom_age_sec": 0.036181966,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.17627069354057312
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05246798877261252,
|
|
"angular_z": -0.051462491654500175
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.052467986941337585,
|
|
"steering_angle": -0.13935048878192902
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.439390968000225,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2863566279411316,
|
|
"y": 1.4145864695310593,
|
|
"yaw": 0.590479850769043,
|
|
"odom_age_sec": 0.026473403000000003,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.15510427951812744
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05300323149121572,
|
|
"angular_z": -0.046271847858949666
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.053003232926130295,
|
|
"steering_angle": -0.12419653683900833
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.540711592000662,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.290839970111847,
|
|
"y": 1.4175118654966354,
|
|
"yaw": 0.5774958729743958,
|
|
"odom_age_sec": 0.032725848,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": -0.1402159035205841
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05309210641951048,
|
|
"angular_z": -0.039943842017616686
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.0530921071767807,
|
|
"steering_angle": -0.10717380046844482
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.642689297001198,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2961553931236267,
|
|
"y": 1.420881912112236,
|
|
"yaw": 0.5643045902252197,
|
|
"odom_age_sec": 0.034249554,
|
|
"odom_linear_x": 0.06499999761581421,
|
|
"odom_angular_z": -0.13014541566371918
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05291692107156927,
|
|
"angular_z": -0.035100166935400676
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05291692167520523,
|
|
"steering_angle": -0.09456996619701385
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.739843512999869,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3012167811393738,
|
|
"y": 1.424001857638359,
|
|
"yaw": 0.5522382259368895,
|
|
"odom_age_sec": 0.015772634,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": -0.11707741022109985
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05364490066259466,
|
|
"angular_z": -0.030401979156001093
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.053644899278879166,
|
|
"steering_angle": -0.08086514472961426
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.839571098000306,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3061774373054504,
|
|
"y": 1.4269861429929733,
|
|
"yaw": 0.5411542654037476,
|
|
"odom_age_sec": 0.021638247000000003,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.10710807144641876
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.0547425939333167,
|
|
"angular_z": -0.027178273938194646
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05474259331822395,
|
|
"steering_angle": -0.07087685912847519
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 4.942191468000601,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.310148537158966,
|
|
"y": 1.4293132275342941,
|
|
"yaw": 0.5311794281005859,
|
|
"odom_age_sec": 0.034151929000000004,
|
|
"odom_linear_x": 0.04500000178813934,
|
|
"odom_angular_z": -0.09463067352771759
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.0566413592459081,
|
|
"angular_z": -0.02123784804129518
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.0566413588821888,
|
|
"steering_angle": -0.053566984832286835
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.039965474001292,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3150405287742615,
|
|
"y": 1.4321181029081345,
|
|
"yaw": 0.522755205631256,
|
|
"odom_age_sec": 0.031685684,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.08029119670391083
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05799692938604092,
|
|
"angular_z": -0.016714513178761013
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.057996928691864014,
|
|
"steering_angle": -0.041188795119524
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.141005640000003,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.319711148738861,
|
|
"y": 1.4347459524869919,
|
|
"yaw": 0.5160127878189088,
|
|
"odom_age_sec": 0.032901515,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.060570694506168365
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.05905492107002199,
|
|
"angular_z": -0.01302072731455022
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.05905492231249809,
|
|
"steering_angle": -0.03151892125606537
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.243517802000497,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3243632912635803,
|
|
"y": 1.43732587993145,
|
|
"yaw": 0.5110393762588502,
|
|
"odom_age_sec": 0.034749678,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.047268591821193695
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.060046336067958006,
|
|
"angular_z": -0.00942934585991812
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.06004633754491806,
|
|
"steering_angle": -0.022452158853411674
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.339535020000767,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.328957974910736,
|
|
"y": 1.4398451298475266,
|
|
"yaw": 0.5071172714233398,
|
|
"odom_age_sec": 0.029662355,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": -0.035893432796001434
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.06042823458650021,
|
|
"angular_z": -0.008012360090570443
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.06042823567986488,
|
|
"steering_angle": -0.018958525732159615
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.439321855001253,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3339007496833801,
|
|
"y": 1.4425328224897385,
|
|
"yaw": 0.5043166875839233,
|
|
"odom_age_sec": 0.030803186000000003,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": -0.02589406631886959
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.06123570696188167,
|
|
"angular_z": -0.004954872191754297
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.0612357072532177,
|
|
"steering_angle": -0.011570293456315994
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.539730272001179,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.338864505290985,
|
|
"y": 1.4452156275510788,
|
|
"yaw": 0.5022667050361633,
|
|
"odom_age_sec": 0.011798767,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": -0.019097015261650085
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.06151061092320946,
|
|
"angular_z": -0.0038949072994647303
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.061510611325502396,
|
|
"steering_angle": -0.009054641239345074
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.641235603001405,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3435596823692322,
|
|
"y": 1.4477423876523972,
|
|
"yaw": 0.500866711139679,
|
|
"odom_age_sec": 0.033130389,
|
|
"odom_linear_x": 0.052000001072883606,
|
|
"odom_angular_z": -0.011939417570829391
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.06212528803655619,
|
|
"angular_z": -0.0014898616742201872
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.06212528795003891,
|
|
"steering_angle": -0.0034293504431843758
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.741602395000882,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3491166234016418,
|
|
"y": 1.4507236927747726,
|
|
"yaw": 0.5000525116920471,
|
|
"odom_age_sec": 0.033551597,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": -0.006122772116214037
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.06233445752661107,
|
|
"angular_z": -0.0006604160176839853
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.06233445927500725,
|
|
"steering_angle": -0.001515043550170958
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.839336484001251,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3546764254570007,
|
|
"y": 1.4537015408277512,
|
|
"yaw": 0.49966248869895935,
|
|
"odom_age_sec": 0.031258018,
|
|
"odom_linear_x": 0.06499999761581421,
|
|
"odom_angular_z": -0.002941703889518976
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.06249988739101057,
|
|
"angular_z": 4.504351461499242e-07
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.062499888241291046,
|
|
"steering_angle": 0.0
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 5.942602520000946,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3602271676063538,
|
|
"y": 1.4566723555326462,
|
|
"yaw": 0.4996143281459809,
|
|
"odom_age_sec": 0.034644054,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": 0.0008252501720562577
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": 0.06232553227873025,
|
|
"angular_z": 0.0006959227899900449
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.06232553347945213,
|
|
"steering_angle": 0.0015967271756380796
|
|
},
|
|
"planner_status": "",
|
|
"tracker_status": ""
|
|
},
|
|
{
|
|
"elapsed_sec": 6.039870694001365,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.366115152835846,
|
|
"y": 1.4598243683576584,
|
|
"yaw": 0.5000264644622803,
|
|
"odom_age_sec": 0.032011934,
|
|
"odom_linear_x": 0.06499999761581421,
|
|
"odom_angular_z": 0.004867068491876125
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.147185096000612,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3713480830192566,
|
|
"y": 1.4626287668943405,
|
|
"yaw": 0.5006785988807678,
|
|
"odom_age_sec": 0.038312463000000005,
|
|
"odom_linear_x": 0.057999998331069946,
|
|
"odom_angular_z": 0.007281307131052017
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.239804529001049,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.375743806362152,
|
|
"y": 1.4649881571531296,
|
|
"yaw": 0.5012840032577515,
|
|
"odom_age_sec": 0.026403862,
|
|
"odom_linear_x": 0.04500000178813934,
|
|
"odom_angular_z": 0.005379457958042622
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.341814401001102,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3795014023780823,
|
|
"y": 1.4670079201459885,
|
|
"yaw": 0.5018069744110107,
|
|
"odom_age_sec": 0.027746984000000002,
|
|
"odom_linear_x": 0.04500000178813934,
|
|
"odom_angular_z": 0.006037649232894182
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.440645030001178,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3825518488883972,
|
|
"y": 1.4686496704816818,
|
|
"yaw": 0.502591609954834,
|
|
"odom_age_sec": 0.027267652000000003,
|
|
"odom_linear_x": 0.026000000536441803,
|
|
"odom_angular_z": 0.007937183603644371
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.542347485999926,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3851315379142761,
|
|
"y": 1.47004072368145,
|
|
"yaw": 0.5031889081001282,
|
|
"odom_age_sec": 0.034060013,
|
|
"odom_linear_x": 0.03200000151991844,
|
|
"odom_angular_z": 0.005146638955920935
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.643507901000703,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.387753665447235,
|
|
"y": 1.4714563339948654,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031961933000000005,
|
|
"odom_linear_x": 0.026000000536441803,
|
|
"odom_angular_z": 0.004547031130641699
|
|
},
|
|
"goal": null,
|
|
"plan_end": null,
|
|
"distance_to_goal": null,
|
|
"yaw_error_to_goal": null,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.7404149920002965,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032445600000000005,
|
|
"odom_linear_x": 0.006000000052154064,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.8399178690015106,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031922267000000004,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 6.939695787001256,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.029152482,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.042955615001119,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.029757897000000002,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.148376730001473,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.037860255,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.240168956001071,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032135891,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.340819706001639,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032326808,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.440887456999917,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032949181,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.540670500000488,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032843307,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.640405168000143,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032453516,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.741110168000887,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033128306,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.848531569999977,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.03799588,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 7.942484292001609,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.03435722,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.040857130001314,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.03292964,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.141265172000203,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033173097,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.259298259999923,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.051153311,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.348728033000953,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.030698978000000002,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.440276635001283,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.026647403,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.545346459000939,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.036627924,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.645974542001568,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.037464464,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.7487856630014,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.040560291000000005,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.843045551000614,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034138346,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 8.942191678001109,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033888638,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.042448346001038,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034132513,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.141751140001361,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033802389,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.240415227000994,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031906642,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.339717521001148,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.025485198,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.45109474900164,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.035955425,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.541064603999985,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.028349024,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.642764185000487,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032097142,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.7414023550009,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033356264000000004,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.842423896001492,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034117805,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 9.9403328590015,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031665518000000004,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.03921215400078,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031355810000000005,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.144322145000842,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034749053,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.243025315001432,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.035068261,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.339578199000243,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.030468896000000002,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.442649777000042,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034644428000000005,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.541298280000774,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033534098000000005,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.639807201001531,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031868392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.743233903000146,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.012241974000000001,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.84074191000036,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.10975364700000001,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 10.943394197000089,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.053698680000000006,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.059380873000919,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.07002472900000001,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.149014062000788,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.039182211,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.250518976999956,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.029815188000000003,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.34324699300123,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033510056,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.445417239001472,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.036825715,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.55016139700092,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.041976954000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.647153071000503,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.038653878,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.748326362001535,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.037474048,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.851563439000529,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031006686000000002,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 11.952467105000323,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032695099000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.040988338001625,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.028845399,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.14642149500105,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.028860107000000003,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.245237498000279,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.036962465,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.342562546000408,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034279179,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.445694374000595,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.037490839000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.54050755300159,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032648224,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.64205071700053,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.030790811,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.743353757001387,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034318553,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.839758224001343,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031725143000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 12.939902891001111,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.028134025000000003,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.050126288000683,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.042094454,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.14107630700164,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033126139,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.241812349000611,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033971847,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.348472252000647,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.039683918000000006,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.445261010001559,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032910807,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.542598975000146,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034643636000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.643439557999955,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.035482094,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.741089980001561,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033285681000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.839457776000927,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.03153181,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 13.939877360000537,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.03195085,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.040395650999926,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032584433,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.140547235001577,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032576557,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.239840738000566,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032082892,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.341658985000322,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033931472000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.44107123700087,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032912556,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.539449825000702,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031696060000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.640623156999936,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032709849,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.742079821000516,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034148762,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.839641619000759,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031876475,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 14.939960453000822,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.0319026,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.041406742000618,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033510306000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.142475866001405,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034745511,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.240887329000543,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033021807,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.339669415001481,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031767476,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.441202330001033,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033486472,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.548155733000385,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.040271083,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.641452831001516,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033602805,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.74229053900126,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034433554000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.839553171001171,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.021636788,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 15.94101558500006,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033389472,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.04092983600094,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033070973000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.14218650100156,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034501303000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.248433239001315,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.040535875000000006,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.342142127999978,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034454637,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.440466050000396,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032620557,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.539384219000567,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031285894,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.63956413699998,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.03130306,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.740071845000784,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032009767,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.842314258001352,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034496137,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 16.94167038500018,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032733057,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.042502134001552,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034687220000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.142319094000413,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034480012000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.241473430000042,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.028666607,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.340562225001122,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.029271439000000003,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.442375347000052,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034565303000000006,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.542113557001358,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034281304000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.642438140001104,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034678928000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.741190435001045,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033445055,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.845823218000078,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.038044046000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 17.941102562001106,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033339764,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.039624566001294,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031732226,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.148956923001606,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.038840669,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.24004060900006,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031568684,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.341944064000927,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.028562149000000002,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.442479398001524,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034574803,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.541674400001284,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033818388000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.64151265200053,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033643097000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.74793280599988,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.039686876,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.84238277700024,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034679220000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 18.939983324000423,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032333808,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.041183948000253,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032002433000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.140787533000548,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033013473,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.241332116000194,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033078056,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.339523537000787,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031825017000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.44879422700069,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.040822832,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.54194278400064,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034351679,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.639589415000955,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031817684,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.759410583001227,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.051682476000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.85295901400059,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.04523274,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 19.940674374000082,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033005807000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.042964203001247,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034923761000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.143431328000588,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.035694176,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.23999650299993,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032333725,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.343384622001395,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033981179,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.44200558400007,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.03061252,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.542850625000938,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034506178000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.644702497000253,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.036934257000000005,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.739837049000926,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.019429335000000002,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.839928925001004,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.027659484,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"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": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 20.951543777000552,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.041002206,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": null,
|
|
"yaw_error_to_plan_end": null,
|
|
"plan_end_to_goal": null,
|
|
"plan_end_yaw_to_goal": null,
|
|
"cmd_vel": {
|
|
"linear_x": 0.0,
|
|
"angular_z": 0.0
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.0,
|
|
"steering_angle": 0.0
|
|
},
|
|
"planner_status": "plan_start start=(1.388,1.472,0.504) goal=(0.000,0.000,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=0.000 goal_yaw_tolerance=0.175",
|
|
"tracker_status": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.03964538600121,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031653393,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": null,
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": null,
|
|
"yaw_error_to_plan_end": null,
|
|
"plan_end_to_goal": null,
|
|
"plan_end_yaw_to_goal": null,
|
|
"cmd_vel": {
|
|
"linear_x": 0.0,
|
|
"angular_z": 0.0
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": 0.0,
|
|
"steering_angle": 0.0
|
|
},
|
|
"planner_status": "plan_start start=(1.388,1.472,0.504) goal=(0.000,0.000,0.000) obstacles=0 resolution=0.100 yaw_bins=36 timeout_ms=1500.000 grid_heuristic=true heuristic_weight=1.350 yaw_heuristic_weight=0.000 goal_yaw_tolerance=0.175",
|
|
"tracker_status": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.14228675600134,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.034428179,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": 1.9870986059415914,
|
|
"yaw_error_to_plan_end": 0.47999999999999987,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"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=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "goal_reached external_plan goal_error=0.097 yaw_error=0.500"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.239622596000117,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.030901686,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": 1.9870986059415914,
|
|
"yaw_error_to_plan_end": 0.47999999999999987,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1199999999999999,
|
|
"angular_z": -3.7007434154171827e-16
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11999999731779099,
|
|
"steering_angle": 0.0
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.340903760999936,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032746682,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": 1.9870986059415914,
|
|
"yaw_error_to_plan_end": 0.47999999999999987,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1199999999999999,
|
|
"angular_z": -3.7007434154171827e-16
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11999999731779099,
|
|
"steering_angle": 0.0
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.439511431000938,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031726685000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": 1.9870986059415914,
|
|
"yaw_error_to_plan_end": 0.47999999999999987,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1199999999999999,
|
|
"angular_z": -3.7007434154171827e-16
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11999999731779099,
|
|
"steering_angle": 0.0
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.539829057001043,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.031870392000000004,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": 1.9870986059415914,
|
|
"yaw_error_to_plan_end": 0.47999999999999987,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1199999999999999,
|
|
"angular_z": -3.7007434154171827e-16
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11999999731779099,
|
|
"steering_angle": 0.0
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.644636589000584,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3882933259010315,
|
|
"y": 1.4717479199171066,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.035942467,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0232153366662873,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": 1.9870986059415914,
|
|
"yaw_error_to_plan_end": 0.47999999999999987,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1199999999999999,
|
|
"angular_z": -3.7007434154171827e-16
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11999999731779099,
|
|
"steering_angle": 0.0
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.741494263000277,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3880251049995422,
|
|
"y": 1.4716029614210129,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.033395973,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0229258434683377,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": 1.9868078487755032,
|
|
"yaw_error_to_plan_end": 0.47999999999999987,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11999862812468481,
|
|
"angular_z": -5.487438525957008e-06
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11999862641096115,
|
|
"steering_angle": 6.539272362715565e-06
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.840173475000483,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3880251049995422,
|
|
"y": 1.4716029614210129,
|
|
"yaw": 0.5036291480064392,
|
|
"odom_age_sec": 0.032219683,
|
|
"odom_linear_x": 0.0,
|
|
"odom_angular_z": 0.0
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0229258434683377,
|
|
"yaw_error_to_goal": 0.5036291480064392,
|
|
"distance_to_plan_end": 1.9868078487755032,
|
|
"yaw_error_to_plan_end": 0.47999999999999987,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11999862812468481,
|
|
"angular_z": -5.487438525957008e-06
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11999862641096115,
|
|
"steering_angle": 6.539272362715565e-06
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 21.948649542000567,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3869052529335022,
|
|
"y": 1.4709978550672531,
|
|
"yaw": 0.5036717653274536,
|
|
"odom_age_sec": 0.038944586,
|
|
"odom_linear_x": -0.026000000536441803,
|
|
"odom_angular_z": 0.0008931236807256937
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.021717307198759,
|
|
"yaw_error_to_goal": 0.5036717653274536,
|
|
"distance_to_plan_end": 1.9855940311581477,
|
|
"yaw_error_to_plan_end": 0.47995738267898547,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11999862812468481,
|
|
"angular_z": -5.487438525957008e-06
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11999862641096115,
|
|
"steering_angle": 6.539272362715565e-06
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.044948425000257,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3834871649742126,
|
|
"y": 1.4691505879163742,
|
|
"yaw": 0.5038534998893738,
|
|
"odom_age_sec": 0.0359423,
|
|
"odom_linear_x": -0.04500000178813934,
|
|
"odom_angular_z": 0.002781298477202654
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.018028787114647,
|
|
"yaw_error_to_goal": 0.5038534998893738,
|
|
"distance_to_plan_end": 1.9818893629820884,
|
|
"yaw_error_to_plan_end": 0.4797756481170653,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11999602346690966,
|
|
"angular_z": 1.5905605267528146e-05
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11999602615833282,
|
|
"steering_angle": -1.8954808183480054e-05
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.141040143000282,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.377764880657196,
|
|
"y": 1.466056153178215,
|
|
"yaw": 0.5043315887451172,
|
|
"odom_age_sec": 0.033085098,
|
|
"odom_linear_x": -0.06499999761581421,
|
|
"odom_angular_z": 0.005059681832790375
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0118540480472342,
|
|
"yaw_error_to_goal": 0.5043315887451172,
|
|
"distance_to_plan_end": 1.9756875028399266,
|
|
"yaw_error_to_plan_end": 0.4792975592613219,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1199080000282894,
|
|
"angular_z": 0.00036771775368256676
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11990799754858017,
|
|
"steering_angle": -0.0004385331703815609
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.240750685999956,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3702759146690369,
|
|
"y": 1.4620026797056198,
|
|
"yaw": 0.5043317675590515,
|
|
"odom_age_sec": 0.032794849,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": -0.0011114859953522682
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 2.0037734197729242,
|
|
"yaw_error_to_goal": 0.5043317675590515,
|
|
"distance_to_plan_end": 1.967571214939475,
|
|
"yaw_error_to_plan_end": 0.47929738044738757,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1199271955038865,
|
|
"angular_z": 0.00029104130129882895
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11992719769477844,
|
|
"steering_angle": -0.0003470347437541932
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.342352767000193,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3612191081047058,
|
|
"y": 1.45710127055645,
|
|
"yaw": 0.5041932463645935,
|
|
"odom_age_sec": 0.034433678,
|
|
"odom_linear_x": -0.09799999743700027,
|
|
"odom_angular_z": -0.0014573689550161362
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.9940064124587442,
|
|
"yaw_error_to_goal": 0.5041932463645935,
|
|
"distance_to_plan_end": 1.9577607716528256,
|
|
"yaw_error_to_plan_end": 0.4794359016418456,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11996485043426568,
|
|
"angular_z": -0.00014055707987155238
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.1199648529291153,
|
|
"steering_angle": 0.00016754625539761037
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.442719725000643,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.352438747882843,
|
|
"y": 1.45235113799572,
|
|
"yaw": 0.5040174722671509,
|
|
"odom_age_sec": 0.032655682000000005,
|
|
"odom_linear_x": -0.09799999743700027,
|
|
"odom_angular_z": -0.0020081906113773584
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.984543875758955,
|
|
"yaw_error_to_goal": 0.5040174722671509,
|
|
"distance_to_plan_end": 1.9482557879635638,
|
|
"yaw_error_to_plan_end": 0.4796116757392882,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11988339677070779,
|
|
"angular_z": -0.00046595970673272145
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11988339573144913,
|
|
"steering_angle": 0.0005558086559176445
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.540889355001127,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3430188298225403,
|
|
"y": 1.447257086634636,
|
|
"yaw": 0.5039032697677612,
|
|
"odom_age_sec": 0.031904101000000004,
|
|
"odom_linear_x": -0.10400000214576721,
|
|
"odom_angular_z": -0.0009275745833292603
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.9743993142401766,
|
|
"yaw_error_to_goal": 0.5039032697677612,
|
|
"distance_to_plan_end": 1.9380653130720806,
|
|
"yaw_error_to_plan_end": 0.4797258782386779,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11979712035743087,
|
|
"angular_z": -0.0008101465652975418
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11979711800813675,
|
|
"steering_angle": 0.0009670593426562846
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.648847839000155,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3327301144599915,
|
|
"y": 1.4416944235563278,
|
|
"yaw": 0.503904402256012,
|
|
"odom_age_sec": 0.038449046,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.00039931602077558637
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.9633268624714415,
|
|
"yaw_error_to_goal": 0.503904402256012,
|
|
"distance_to_plan_end": 1.926942277723531,
|
|
"yaw_error_to_plan_end": 0.4797247457504271,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11977246757763821,
|
|
"angular_z": -0.0009084039893395821
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11977246403694153,
|
|
"steering_angle": 0.0010845707729458809
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.74108056500154,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3231049180030823,
|
|
"y": 1.4364890307188034,
|
|
"yaw": 0.5044952630996704,
|
|
"odom_age_sec": 0.033001474,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.008102849125862122
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.9529739781726203,
|
|
"yaw_error_to_goal": 0.5044952630996704,
|
|
"distance_to_plan_end": 1.9165416805322453,
|
|
"yaw_error_to_plan_end": 0.4791338849067686,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.119831883049286,
|
|
"angular_z": -0.0006715256925520169
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.119831882417202,
|
|
"steering_angle": 0.0008013572660274804
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.843490394001492,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.312551200389862,
|
|
"y": 1.4307700842618942,
|
|
"yaw": 0.5061150193214417,
|
|
"odom_age_sec": 0.035580343,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.018059344962239265
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.9416214068823139,
|
|
"yaw_error_to_goal": 0.5061150193214417,
|
|
"distance_to_plan_end": 1.9051364457604334,
|
|
"yaw_error_to_plan_end": 0.4775141286849975,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11985268381738587,
|
|
"angular_z": 0.0005885413285344714
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11985268443822861,
|
|
"steering_angle": -0.0007022070349194109
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 22.941567607000252,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.3022645115852356,
|
|
"y": 1.4251741617918015,
|
|
"yaw": 0.5075057148933411,
|
|
"odom_age_sec": 0.031533059,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.012264994904398918
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.9305476553489416,
|
|
"yaw_error_to_goal": 0.5075057148933411,
|
|
"distance_to_plan_end": 1.894011104477604,
|
|
"yaw_error_to_plan_end": 0.476123433113098,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11966690675612557,
|
|
"angular_z": 0.0013286746051938924
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11966690421104431,
|
|
"steering_angle": -0.0015877431724220514
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.039833361001,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2922130227088928,
|
|
"y": 1.4196900576353073,
|
|
"yaw": 0.5083649754524231,
|
|
"odom_age_sec": 0.031678809,
|
|
"odom_linear_x": -0.10400000214576721,
|
|
"odom_angular_z": 0.0069391182623803616
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.9197224684331315,
|
|
"yaw_error_to_goal": 0.5083649754524231,
|
|
"distance_to_plan_end": 1.883135213645607,
|
|
"yaw_error_to_plan_end": 0.47526417255401604,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11957480405061353,
|
|
"angular_z": 0.0016947574110333726
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11957480758428574,
|
|
"steering_angle": -0.002026764675974846
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.139500238001347,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2822594046592712,
|
|
"y": 1.4142498224973679,
|
|
"yaw": 0.508820116519928,
|
|
"odom_age_sec": 0.03147856,
|
|
"odom_linear_x": -0.10400000214576721,
|
|
"odom_angular_z": 0.003998672589659691
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.9090028133219148,
|
|
"yaw_error_to_goal": 0.508820116519928,
|
|
"distance_to_plan_end": 1.8723649996945824,
|
|
"yaw_error_to_plan_end": 0.47480903148651116,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11949313470070416,
|
|
"angular_z": 0.002018897449462308
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11949313431978226,
|
|
"steering_angle": -0.00241605332121253
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.240103195999836,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2730197310447693,
|
|
"y": 1.409194990992546,
|
|
"yaw": 0.5090476274490355,
|
|
"odom_age_sec": 0.032028184,
|
|
"odom_linear_x": -0.10400000214576721,
|
|
"odom_angular_z": 0.0019169826991856098
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.8990549645199264,
|
|
"yaw_error_to_goal": 0.5090476274490355,
|
|
"distance_to_plan_end": 1.8623698694752446,
|
|
"yaw_error_to_plan_end": 0.47458152055740355,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1194728750043488,
|
|
"angular_z": 0.0020992379572367745
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11947287619113922,
|
|
"steering_angle": -0.0025126237887889147
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.342221026001425,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2633511424064636,
|
|
"y": 1.403903290629387,
|
|
"yaw": 0.5092051029205322,
|
|
"odom_age_sec": 0.031633434,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.0022333343513309956
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.888650459576821,
|
|
"yaw_error_to_goal": 0.5092051029205322,
|
|
"distance_to_plan_end": 1.851915498577744,
|
|
"yaw_error_to_plan_end": 0.47442404508590685,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11945871000329925,
|
|
"angular_z": 0.0021553934914520295
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11945871263742447,
|
|
"steering_angle": -0.002580143278464675
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.440051115001552,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.252820909023285,
|
|
"y": 1.3981363028287888,
|
|
"yaw": 0.5099002122879027,
|
|
"odom_age_sec": 0.032010975000000004,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.008102324791252613
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.8773239867890903,
|
|
"yaw_error_to_goal": 0.5099002122879027,
|
|
"distance_to_plan_end": 1.840534268207163,
|
|
"yaw_error_to_plan_end": 0.47372893571853636,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11933664273739558,
|
|
"angular_z": 0.002638760955156016
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11933664232492447,
|
|
"steering_angle": -0.003161992412060499
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.542844276000324,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2420013546943665,
|
|
"y": 1.3921997994184494,
|
|
"yaw": 0.5108173489570618,
|
|
"odom_age_sec": 0.034569136,
|
|
"odom_linear_x": -0.12399999797344208,
|
|
"odom_angular_z": 0.008936249651014805
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.8656869101120404,
|
|
"yaw_error_to_goal": 0.5108173489570618,
|
|
"distance_to_plan_end": 1.8288405043217195,
|
|
"yaw_error_to_plan_end": 0.4728117990493773,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11914713228804061,
|
|
"angular_z": 0.0033872247367007866
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11914712935686111,
|
|
"steering_angle": -0.004065313842147589
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.641840863001562,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2311024069786072,
|
|
"y": 1.3862072676420212,
|
|
"yaw": 0.5119838714599609,
|
|
"odom_age_sec": 0.033522639,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.014543947763741016
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.8539643268768895,
|
|
"yaw_error_to_goal": 0.5119838714599609,
|
|
"distance_to_plan_end": 1.8170603870448565,
|
|
"yaw_error_to_plan_end": 0.47164527654647814,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11894325428240912,
|
|
"angular_z": 0.004189759153308605
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11894325166940689,
|
|
"steering_angle": -0.005037112161517143
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.749270931000865,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2206184267997742,
|
|
"y": 1.380423590540886,
|
|
"yaw": 0.5142034292221069,
|
|
"odom_age_sec": 0.041506747000000004,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.024129614233970642
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.842682455868332,
|
|
"yaw_error_to_goal": 0.5142034292221069,
|
|
"distance_to_plan_end": 1.8057228299488093,
|
|
"yaw_error_to_plan_end": 0.46942571878433215,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11848413315202863,
|
|
"angular_z": 0.005986872315192825
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.1187133714556694,
|
|
"steering_angle": -0.006132843904197216
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.842519863001144,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.2104020714759827,
|
|
"y": 1.3747584074735641,
|
|
"yaw": 0.5159431099891661,
|
|
"odom_age_sec": 0.034604095,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.015771832317113876
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.831675149570087,
|
|
"yaw_error_to_goal": 0.5159431099891661,
|
|
"distance_to_plan_end": 1.7946610344286922,
|
|
"yaw_error_to_plan_end": 0.46768603801727293,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11810284824943551,
|
|
"angular_z": 0.007468634176768959
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11824551969766617,
|
|
"steering_angle": -0.008362822234630585
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 23.94230186400091,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.1993382573127747,
|
|
"y": 1.3686001747846603,
|
|
"yaw": 0.5170598030090332,
|
|
"odom_age_sec": 0.034361553,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.008286840282380581
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.8197468763195188,
|
|
"yaw_error_to_goal": 0.5170598030090332,
|
|
"distance_to_plan_end": 1.7826734078239046,
|
|
"yaw_error_to_plan_end": 0.4665693449974059,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1179573671424301,
|
|
"angular_z": 0.008031453130585425
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11795736849308014,
|
|
"steering_angle": -0.009736242704093456
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.041396700000405,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.1885583996772766,
|
|
"y": 1.3625878542661667,
|
|
"yaw": 0.5172545313835144,
|
|
"odom_age_sec": 0.033451098000000005,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.00011423695832490921
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.8081251975560446,
|
|
"yaw_error_to_goal": 0.5172545313835144,
|
|
"distance_to_plan_end": 1.7709934446652775,
|
|
"yaw_error_to_plan_end": 0.4663746166229246,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11776721185898409,
|
|
"angular_z": 0.008764974467974914
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11776721477508545,
|
|
"steering_angle": -0.010642554610967636
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.141249035001238,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.1780713200569153,
|
|
"y": 1.3567380160093307,
|
|
"yaw": 0.51673424243927,
|
|
"odom_age_sec": 0.033345264,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": -0.008305906318128109
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.7968277822945575,
|
|
"yaw_error_to_goal": 0.51673424243927,
|
|
"distance_to_plan_end": 1.759638790192381,
|
|
"yaw_error_to_plan_end": 0.46689490556716906,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11792346821279509,
|
|
"angular_z": 0.008162394340043892
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11792346835136414,
|
|
"steering_angle": -0.009897811338305473
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.243023740000353,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.166871726512909,
|
|
"y": 1.3505020588636398,
|
|
"yaw": 0.5150870084762574,
|
|
"odom_age_sec": 0.034960719,
|
|
"odom_linear_x": -0.12399999797344208,
|
|
"odom_angular_z": -0.02022559568285942
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.7847816216921741,
|
|
"yaw_error_to_goal": 0.5150870084762574,
|
|
"distance_to_plan_end": 1.7475307929392154,
|
|
"yaw_error_to_plan_end": 0.46854213953018164,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.118025794168033,
|
|
"angular_z": 0.007766907038968915
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11802579462528229,
|
|
"steering_angle": -0.009410103783011436
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.33963445700101,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.1564493775367737,
|
|
"y": 1.3447252959012985,
|
|
"yaw": 0.5126003623008728,
|
|
"odom_age_sec": 0.031841309000000005,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": -0.025113511830568314
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.7736012190574368,
|
|
"yaw_error_to_goal": 0.5126003623008728,
|
|
"distance_to_plan_end": 1.7362920301240679,
|
|
"yaw_error_to_plan_end": 0.4710287857055663,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11869504041487805,
|
|
"angular_z": 0.00516307435652769
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11869504302740097,
|
|
"steering_angle": -0.0062202271074056625
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.444591155001035,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.1459595561027527,
|
|
"y": 1.3389449566602707,
|
|
"yaw": 0.5100316405296326,
|
|
"odom_age_sec": 0.036598008,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": -0.02623370662331581
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.7623838688518436,
|
|
"yaw_error_to_goal": 0.5100316405296326,
|
|
"distance_to_plan_end": 1.7250150653113423,
|
|
"yaw_error_to_plan_end": 0.4735975074768065,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11918304242586632,
|
|
"angular_z": 0.003245582973936904
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11918304115533829,
|
|
"steering_angle": -0.003894144669175148
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.551101601000482,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.1357086300849915,
|
|
"y": 1.3333316296339035,
|
|
"yaw": 0.5070796012878418,
|
|
"odom_age_sec": 0.04332541,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": -0.030281875282526016
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.7514586284099687,
|
|
"yaw_error_to_goal": 0.5070796012878418,
|
|
"distance_to_plan_end": 1.7140306878516667,
|
|
"yaw_error_to_plan_end": 0.4765495467185973,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11952344993579504,
|
|
"angular_z": 0.001898630258030062
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11980856955051422,
|
|
"steering_angle": -0.0009124798234552145
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.64084124800138,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.124841034412384,
|
|
"y": 1.3274198025465012,
|
|
"yaw": 0.5049417614936829,
|
|
"odom_age_sec": 0.033138098000000005,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": -0.0187582578510046
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.7399168614880753,
|
|
"yaw_error_to_goal": 0.5049417614936829,
|
|
"distance_to_plan_end": 1.702425260676264,
|
|
"yaw_error_to_plan_end": 0.4786873865127562,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11990099475499916,
|
|
"angular_z": -0.00039569424538544784
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11990099400281906,
|
|
"steering_angle": 0.00047192495549097657
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.74309616100072,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.1129613518714905,
|
|
"y": 1.3209871500730515,
|
|
"yaw": 0.5035133957862854,
|
|
"odom_age_sec": 0.035687801000000005,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": -0.010943541303277016
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.727336105515582,
|
|
"yaw_error_to_goal": 0.5035133957862854,
|
|
"distance_to_plan_end": 1.689773927494112,
|
|
"yaw_error_to_plan_end": 0.4801157522201537,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11942708580557158,
|
|
"angular_z": -0.002280715755241088
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11942708492279053,
|
|
"steering_angle": 0.002730884123593569
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.83981337700061,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.1037247776985168,
|
|
"y": 1.3160005062818527,
|
|
"yaw": 0.5026798844337463,
|
|
"odom_age_sec": 0.03200285,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": -0.008066297508776188
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.7175755347115693,
|
|
"yaw_error_to_goal": 0.5026798844337463,
|
|
"distance_to_plan_end": 1.6799578271582405,
|
|
"yaw_error_to_plan_end": 0.48094926357269274,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11929777986989248,
|
|
"angular_z": -0.002792443416725743
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11929778009653091,
|
|
"steering_angle": 0.0033472368959337473
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 24.93958496200139,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.0936807990074158,
|
|
"y": 1.310587927699089,
|
|
"yaw": 0.5020995736122131,
|
|
"odom_age_sec": 0.031726393,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": -0.004877655301243067
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.706979322179414,
|
|
"yaw_error_to_goal": 0.5020995736122131,
|
|
"distance_to_plan_end": 1.6693006209941008,
|
|
"yaw_error_to_plan_end": 0.48152957439422595,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11909673341123624,
|
|
"angular_z": -0.0035858700040424787
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11909673362970352,
|
|
"steering_angle": 0.004305544309318066
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.03955154600044,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.0831168293952942,
|
|
"y": 1.3049022406339645,
|
|
"yaw": 0.5015256404876709,
|
|
"odom_age_sec": 0.029204106,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": -0.006713871844112873
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.6958513860981026,
|
|
"yaw_error_to_goal": 0.5015256404876709,
|
|
"distance_to_plan_end": 1.658107881657488,
|
|
"yaw_error_to_plan_end": 0.4821035075187682,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.118912920929326,
|
|
"angular_z": -0.004308924919166117
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11899738758802414,
|
|
"steering_angle": 0.004779070615768433
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.141395335000198,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.0716691613197327,
|
|
"y": 1.2987504452466965,
|
|
"yaw": 0.5011389851570129,
|
|
"odom_age_sec": 0.033684763,
|
|
"odom_linear_x": -0.12999999523162842,
|
|
"odom_angular_z": 0.001321692019701004
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.683813383469864,
|
|
"yaw_error_to_goal": 0.5011389851570129,
|
|
"distance_to_plan_end": 1.6459988819214664,
|
|
"yaw_error_to_plan_end": 0.4824901628494262,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11882510569322392,
|
|
"angular_z": -0.0046535646727011255
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11882510781288147,
|
|
"steering_angle": 0.005600270815193653
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.239788797000074,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.0599574446678162,
|
|
"y": 1.2924560755491257,
|
|
"yaw": 0.5021656751632689,
|
|
"odom_age_sec": 0.031809392,
|
|
"odom_linear_x": -0.12999999523162842,
|
|
"odom_angular_z": 0.01150429341942072
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.6715120375667576,
|
|
"yaw_error_to_goal": 0.5021656751632689,
|
|
"distance_to_plan_end": 1.633624166064049,
|
|
"yaw_error_to_plan_end": 0.48146347284317015,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1188801106628188,
|
|
"angular_z": -0.004437752277807027
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11888010799884796,
|
|
"steering_angle": 0.005338088609278202
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.34103996200065,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.0490780472755432,
|
|
"y": 1.2865930050611496,
|
|
"yaw": 0.5037125945091248,
|
|
"odom_age_sec": 0.033129014000000005,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.016384996473789215
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.66008623569613,
|
|
"yaw_error_to_goal": 0.5037125945091248,
|
|
"distance_to_plan_end": 1.6221296819287208,
|
|
"yaw_error_to_plan_end": 0.4799165534973143,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11925136614090044,
|
|
"angular_z": -0.002975853681231875
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11895078420639038,
|
|
"steering_angle": 0.005001210607588291
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.439411383000333,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.038196623325348,
|
|
"y": 1.2807010859251022,
|
|
"yaw": 0.5075221061706543,
|
|
"odom_age_sec": 0.031765851000000005,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.043038204312324524
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.6486502055238674,
|
|
"yaw_error_to_goal": 0.5075221061706543,
|
|
"distance_to_plan_end": 1.610624559794274,
|
|
"yaw_error_to_plan_end": 0.4761070418357848,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11989148866282402,
|
|
"angular_z": -0.00043365285836072806
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11989148706197739,
|
|
"steering_angle": 0.0005172373494133353
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.541306255001473,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.027351200580597,
|
|
"y": 1.2747732847929,
|
|
"yaw": 0.5114712119102478,
|
|
"odom_age_sec": 0.033605555,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.03865058720111847
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.637222470208638,
|
|
"yaw_error_to_goal": 0.5114712119102478,
|
|
"distance_to_plan_end": 1.599127822331456,
|
|
"yaw_error_to_plan_end": 0.4721579360961913,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11945418670381983,
|
|
"angular_z": 0.0021733227795778035
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11945419013500214,
|
|
"steering_angle": -0.0026017040945589542
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.6421924210008,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.0161800980567932,
|
|
"y": 1.2686109989881516,
|
|
"yaw": 0.5158820748329161,
|
|
"odom_age_sec": 0.034405679,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.04691866785287857
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.6254217478674358,
|
|
"yaw_error_to_goal": 0.5158820748329161,
|
|
"distance_to_plan_end": 1.5872558607306853,
|
|
"yaw_error_to_plan_end": 0.46774707317352293,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.1195132127304684,
|
|
"angular_z": 0.0019392503499337818
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11951321363449097,
|
|
"steering_angle": -0.0023203485179692507
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.753042940999876,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 1.0054705739021301,
|
|
"y": 1.26263789832592,
|
|
"yaw": 0.5206893086433411,
|
|
"odom_age_sec": 0.045139406,
|
|
"odom_linear_x": -0.12399999797344208,
|
|
"odom_angular_z": 0.0476144514977932
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.6140711066343933,
|
|
"yaw_error_to_goal": 0.5206893086433411,
|
|
"distance_to_plan_end": 1.5758368689577924,
|
|
"yaw_error_to_plan_end": 0.462939839363098,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11857989225962103,
|
|
"angular_z": 0.005613207428373062
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11857989430427551,
|
|
"steering_angle": -0.00676907692104578
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.840611134000937,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.9943938851356506,
|
|
"y": 1.2563960999250412,
|
|
"yaw": 0.5236702561378479,
|
|
"odom_age_sec": 0.032763099000000004,
|
|
"odom_linear_x": -0.12399999797344208,
|
|
"odom_angular_z": 0.023608235642313957
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.6022953406604001,
|
|
"yaw_error_to_goal": 0.5236702561378479,
|
|
"distance_to_plan_end": 1.5639903117736478,
|
|
"yaw_error_to_plan_end": 0.4599588918685912,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11897147552069447,
|
|
"angular_z": -0.004078835830404414
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11897147446870804,
|
|
"steering_angle": 0.00490259425714612
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 25.939292179000404,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.983650267124176,
|
|
"y": 1.2503076046705246,
|
|
"yaw": 0.5249698758125305,
|
|
"odom_age_sec": 0.031560892,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.011001369915902615
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.590860444636929,
|
|
"yaw_error_to_goal": 0.5249698758125305,
|
|
"distance_to_plan_end": 1.5524863895046639,
|
|
"yaw_error_to_plan_end": 0.45865927219390856,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11907607870164098,
|
|
"angular_z": -0.0036672308412507
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11907608062028885,
|
|
"steering_angle": 0.004403996281325817
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.03943338800127,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.9729179739952087,
|
|
"y": 1.244209811091423,
|
|
"yaw": 0.5255470871925354,
|
|
"odom_age_sec": 0.031640184,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.0041182260029017925
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.579438963093888,
|
|
"yaw_error_to_goal": 0.5255470871925354,
|
|
"distance_to_plan_end": 1.5409954194161053,
|
|
"yaw_error_to_plan_end": 0.4580820608139037,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11894986031965285,
|
|
"angular_z": -0.0041637989431139435
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11894986033439636,
|
|
"steering_angle": 0.005005624145269394
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.139414806000786,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.9624815583229065,
|
|
"y": 1.238274022936821,
|
|
"yaw": 0.5257326364517212,
|
|
"odom_age_sec": 0.031639810000000004,
|
|
"odom_linear_x": -0.11699999868869781,
|
|
"odom_angular_z": 0.001576348440721631
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.5683409406094801,
|
|
"yaw_error_to_goal": 0.5257326364517212,
|
|
"distance_to_plan_end": 1.5298292207748443,
|
|
"yaw_error_to_plan_end": 0.4578965115547179,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11425397671037171,
|
|
"angular_z": -0.021883533703681443
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11425397545099258,
|
|
"steering_angle": 0.027382532134652138
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.239508223001394,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.9514444470405579,
|
|
"y": 1.2319924086332321,
|
|
"yaw": 0.526469886302948,
|
|
"odom_age_sec": 0.031568601,
|
|
"odom_linear_x": -0.12399999797344208,
|
|
"odom_angular_z": 0.008718417957425117
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.5566155051052992,
|
|
"yaw_error_to_goal": 0.526469886302948,
|
|
"distance_to_plan_end": 1.518031009215351,
|
|
"yaw_error_to_plan_end": 0.4571592617034911,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.11386255559052297,
|
|
"angular_z": -0.023294170175260753
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.11386255919933319,
|
|
"steering_angle": 0.02924680896103382
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.3392397660009,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.9404026865959167,
|
|
"y": 1.2256957739591599,
|
|
"yaw": 0.5275758504867554,
|
|
"odom_age_sec": 0.031399893000000005,
|
|
"odom_linear_x": -0.12399999797344208,
|
|
"odom_angular_z": 0.011481400579214096
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.5448907221089012,
|
|
"yaw_error_to_goal": 0.5275758504867554,
|
|
"distance_to_plan_end": 1.5062327937392814,
|
|
"yaw_error_to_plan_end": 0.4560532975196837,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.10797738923081204,
|
|
"angular_z": -0.04327233741983869
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.10797739028930664,
|
|
"steering_angle": 0.0572451651096344
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.43930543300121,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.9302558302879333,
|
|
"y": 1.2198951691389084,
|
|
"yaw": 0.5285406708717346,
|
|
"odom_age_sec": 0.031492559,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.009214848279953003
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.5341186829815803,
|
|
"yaw_error_to_goal": 0.5285406708717346,
|
|
"distance_to_plan_end": 1.4953927476680315,
|
|
"yaw_error_to_plan_end": 0.45508847713470446,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.10719963739203331,
|
|
"angular_z": -0.04573980766868566
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.10719963908195496,
|
|
"steering_angle": 0.06093951314687729
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.539279976001126,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.920697033405304,
|
|
"y": 1.2144179791212082,
|
|
"yaw": 0.5298949480056762,
|
|
"odom_age_sec": 0.031501227,
|
|
"odom_linear_x": -0.10400000214576721,
|
|
"odom_angular_z": 0.014878710731863976
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.5239731150299753,
|
|
"yaw_error_to_goal": 0.5298949480056762,
|
|
"distance_to_plan_end": 1.4851826505906092,
|
|
"yaw_error_to_plan_end": 0.4537342000007629,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.10647500805797654,
|
|
"angular_z": -0.048002454200367195
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.10647501051425934,
|
|
"steering_angle": 0.06438003480434418
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.639490893001494,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.9107610583305359,
|
|
"y": 1.2087034434080124,
|
|
"yaw": 0.5324364304542542,
|
|
"odom_age_sec": 0.031619184,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.02823607251048088
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.513423179245562,
|
|
"yaw_error_to_goal": 0.5324364304542542,
|
|
"distance_to_plan_end": 1.4745652335970303,
|
|
"yaw_error_to_plan_end": 0.45119271755218493,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.10052014607087906,
|
|
"angular_z": -0.06527059207982083
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.10052014887332916,
|
|
"steering_angle": 0.09258848428726196
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.739477352000904,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.9009314179420471,
|
|
"y": 1.2030140608549118,
|
|
"yaw": 0.5358181595802307,
|
|
"odom_age_sec": 0.031668017,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.036028847098350525
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.5029704755748508,
|
|
"yaw_error_to_goal": 0.5358181595802307,
|
|
"distance_to_plan_end": 1.4640454957865663,
|
|
"yaw_error_to_plan_end": 0.44781098842620837,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09967946377474303,
|
|
"angular_z": -0.06751800515162855
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09967946261167526,
|
|
"steering_angle": 0.09655999392271042
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.839483978001226,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8914536833763123,
|
|
"y": 1.1974831074476242,
|
|
"yaw": 0.5398427844047546,
|
|
"odom_age_sec": 0.031537226,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.04141338914632797
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.4928681998849103,
|
|
"yaw_error_to_goal": 0.5398427844047546,
|
|
"distance_to_plan_end": 1.453878426654743,
|
|
"yaw_error_to_plan_end": 0.4437863636016845,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.0951194182507985,
|
|
"angular_z": -0.0788875487241827
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.0951194167137146,
|
|
"steering_angle": 0.11804604530334473
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 26.939665937001337,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8816391825675964,
|
|
"y": 1.19170181453228,
|
|
"yaw": 0.5447986721992494,
|
|
"odom_age_sec": 0.031835933000000004,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.05441441386938095
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.4823767614874392,
|
|
"yaw_error_to_goal": 0.5447986721992494,
|
|
"distance_to_plan_end": 1.4433197863514855,
|
|
"yaw_error_to_plan_end": 0.4388304758071897,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09422025731795548,
|
|
"angular_z": -0.08096579963643047
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09422025829553604,
|
|
"steering_angle": 0.12227045744657516
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.03956685400044,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8721982836723328,
|
|
"y": 1.1860722750425339,
|
|
"yaw": 0.5509974360466003,
|
|
"odom_age_sec": 0.031937559000000004,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.06389069557189941
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.472242265276179,
|
|
"yaw_error_to_goal": 0.5509974360466003,
|
|
"distance_to_plan_end": 1.4331206922391968,
|
|
"yaw_error_to_plan_end": 0.43263171195983874,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09351723921705146,
|
|
"angular_z": -0.08255315584223157
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.0935172364115715,
|
|
"steering_angle": 0.12557031214237213
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.13971289700021,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8633474707603455,
|
|
"y": 1.1807182282209396,
|
|
"yaw": 0.5586693882942201,
|
|
"odom_age_sec": 0.031995267,
|
|
"odom_linear_x": -0.09799999743700027,
|
|
"odom_angular_z": 0.08124230802059174
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.462690804552172,
|
|
"yaw_error_to_goal": 0.5586693882942201,
|
|
"distance_to_plan_end": 1.4235088491781975,
|
|
"yaw_error_to_plan_end": 0.424959759712219,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09062514586665271,
|
|
"angular_z": -0.08873668135487478
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09062514454126358,
|
|
"steering_angle": 0.13911569118499756
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.23931056500078,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8545474410057068,
|
|
"y": 1.1752955168485641,
|
|
"yaw": 0.5682240724563599,
|
|
"odom_age_sec": 0.031571809,
|
|
"odom_linear_x": -0.10400000214576721,
|
|
"odom_angular_z": 0.09895645081996918
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.4531245235194867,
|
|
"yaw_error_to_goal": 0.5682240724563599,
|
|
"distance_to_plan_end": 1.4138829373391866,
|
|
"yaw_error_to_plan_end": 0.4154050755500792,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09047393569580726,
|
|
"angular_z": -0.08904464144026009
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09047393500804901,
|
|
"steering_angle": 0.13982252776622772
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.339328066000235,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8463467955589294,
|
|
"y": 1.1701349467039108,
|
|
"yaw": 0.5778298377990723,
|
|
"odom_age_sec": 0.031667684,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.09527277946472168
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.4441325049491243,
|
|
"yaw_error_to_goal": 0.5778298377990723,
|
|
"distance_to_plan_end": 1.4048358721645302,
|
|
"yaw_error_to_plan_end": 0.40579931020736676,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09043745601500124,
|
|
"angular_z": -0.0891187090444955
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09043745696544647,
|
|
"steering_angle": 0.13999304175376892
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.43936402500003,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8382064700126648,
|
|
"y": 1.1649038046598434,
|
|
"yaw": 0.5877695679664611,
|
|
"odom_age_sec": 0.031619851000000004,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.10317613929510117
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.4351275066982971,
|
|
"yaw_error_to_goal": 0.5877695679664611,
|
|
"distance_to_plan_end": 1.3957767811776858,
|
|
"yaw_error_to_plan_end": 0.395859580039978,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.08887135055700274,
|
|
"angular_z": -0.09221483723382193
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.08887135237455368,
|
|
"steering_angle": 0.14730511605739594
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.5394910670002,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8304253220558167,
|
|
"y": 1.1597909182310104,
|
|
"yaw": 0.5982539653778076,
|
|
"odom_age_sec": 0.031788809,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.10531794279813766
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.4264365353995379,
|
|
"yaw_error_to_goal": 0.5982539653778076,
|
|
"distance_to_plan_end": 1.387034714205208,
|
|
"yaw_error_to_plan_end": 0.38537518262863146,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.08897028202656455,
|
|
"angular_z": -0.09202409197671034
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.08897028118371964,
|
|
"steering_angle": 0.14684367179870605
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.639422150999962,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8223989605903625,
|
|
"y": 1.1543971747159958,
|
|
"yaw": 0.6087430119514466,
|
|
"odom_age_sec": 0.031636892,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.10406404733657837
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.417382406893913,
|
|
"yaw_error_to_goal": 0.6087430119514466,
|
|
"distance_to_plan_end": 1.3779285388042841,
|
|
"yaw_error_to_plan_end": 0.37488613605499244,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.08899327359876077,
|
|
"angular_z": -0.09197966953424669
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.08899327367544174,
|
|
"steering_angle": 0.14673642814159393
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.739314527001625,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.814426600933075,
|
|
"y": 1.1489187926054,
|
|
"yaw": 0.6191521883010864,
|
|
"odom_age_sec": 0.031617267000000004,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.10410290956497192
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.4082986474144086,
|
|
"yaw_error_to_goal": 0.6191521883010864,
|
|
"distance_to_plan_end": 1.3687937433008304,
|
|
"yaw_error_to_plan_end": 0.36447695970535265,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.08824233207626955,
|
|
"angular_z": -0.09341235596312386
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.08824232965707779,
|
|
"steering_angle": 0.1502375602722168
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.839377236001383,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.8068050742149353,
|
|
"y": 1.1435629576444626,
|
|
"yaw": 0.6300842761993408,
|
|
"odom_age_sec": 0.031606559,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.11213140189647675
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.399525157285684,
|
|
"yaw_error_to_goal": 0.6300842761993408,
|
|
"distance_to_plan_end": 1.3599721260814857,
|
|
"yaw_error_to_plan_end": 0.35354487180709826,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.08839953574898121,
|
|
"angular_z": -0.09311554564141124
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.08839953690767288,
|
|
"steering_angle": 0.14950492978096008
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 27.939374362000308,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7994994521141052,
|
|
"y": 1.1383071392774582,
|
|
"yaw": 0.6412518620491028,
|
|
"odom_age_sec": 0.031637101,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.1121441125869751
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.3910221124269682,
|
|
"yaw_error_to_goal": 0.6412518620491028,
|
|
"distance_to_plan_end": 1.3514236729069435,
|
|
"yaw_error_to_plan_end": 0.34237728595733635,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.08867100944907544,
|
|
"angular_z": -0.09259910723903418
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.0886710062623024,
|
|
"steering_angle": 0.1482393741607666
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.03933448800126,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7927848696708679,
|
|
"y": 1.1333643645048141,
|
|
"yaw": 0.6525295376777649,
|
|
"odom_age_sec": 0.031675809,
|
|
"odom_linear_x": -0.07800000160932541,
|
|
"odom_angular_z": 0.11297997832298279
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.3831206137963732,
|
|
"yaw_error_to_goal": 0.6525295376777649,
|
|
"distance_to_plan_end": 1.3434811229163095,
|
|
"yaw_error_to_plan_end": 0.33109961032867424,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.08900400792276432,
|
|
"angular_z": -0.09195891748054079
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.08900400996208191,
|
|
"steering_angle": 0.1466863453388214
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.13927294700079,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7853533625602722,
|
|
"y": 1.1277622431516647,
|
|
"yaw": 0.6642576456069946,
|
|
"odom_age_sec": 0.031540934,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.11978203058242798
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.374273473935665,
|
|
"yaw_error_to_goal": 0.6642576456069946,
|
|
"distance_to_plan_end": 1.3345893649870004,
|
|
"yaw_error_to_plan_end": 0.31937150239944445,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.08932711856720423,
|
|
"angular_z": -0.09133067055150483
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.0893271192908287,
|
|
"steering_angle": 0.14517875015735626
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.2394502390016,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7779915928840637,
|
|
"y": 1.122073456645012,
|
|
"yaw": 0.6770837306976317,
|
|
"odom_age_sec": 0.031713309,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.13022395968437195
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.3654009523599901,
|
|
"yaw_error_to_goal": 0.6770837306976317,
|
|
"distance_to_plan_end": 1.3256735116935068,
|
|
"yaw_error_to_plan_end": 0.30654541730880736,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.08992711588377063,
|
|
"angular_z": -0.09014559116264542
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.08992711454629898,
|
|
"steering_angle": 0.14237748086452484
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.339377907001108,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7711846232414246,
|
|
"y": 1.116671845316887,
|
|
"yaw": 0.6899271607398987,
|
|
"odom_age_sec": 0.031700101,
|
|
"odom_linear_x": -0.08500000089406967,
|
|
"odom_angular_z": 0.12573407590389252
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.3570857501453029,
|
|
"yaw_error_to_goal": 0.6899271607398987,
|
|
"distance_to_plan_end": 1.3173191750693702,
|
|
"yaw_error_to_plan_end": 0.2937019872665404,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09094770559798734,
|
|
"angular_z": -0.0880746506073434
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.0909477025270462,
|
|
"steering_angle": 0.1376074105501175
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.439664907000406,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7644428610801697,
|
|
"y": 1.1111829727888107,
|
|
"yaw": 0.7016768455505371,
|
|
"odom_age_sec": 0.031817892,
|
|
"odom_linear_x": -0.08500000089406967,
|
|
"odom_angular_z": 0.1151440218091011
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.348740333374892,
|
|
"yaw_error_to_goal": 0.7016768455505371,
|
|
"distance_to_plan_end": 1.3089359236291278,
|
|
"yaw_error_to_plan_end": 0.28195230245590197,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09150410932123605,
|
|
"angular_z": -0.08691636986252022
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09150411188602448,
|
|
"steering_angle": 0.1350041925907135
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.5394283250007,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7580545544624329,
|
|
"y": 1.1058572977781296,
|
|
"yaw": 0.7125686407089233,
|
|
"odom_age_sec": 0.031743434,
|
|
"odom_linear_x": -0.08500000089406967,
|
|
"odom_angular_z": 0.1060241162776947
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.3407337806553485,
|
|
"yaw_error_to_goal": 0.7125686407089233,
|
|
"distance_to_plan_end": 1.3008943388293706,
|
|
"yaw_error_to_plan_end": 0.27106050729751574,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09198886741633278,
|
|
"angular_z": -0.08589041204734277
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09198886901140213,
|
|
"steering_angle": 0.13273467123508453
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.639577117000954,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.750932514667511,
|
|
"y": 1.0997946709394455,
|
|
"yaw": 0.7225263714790345,
|
|
"odom_age_sec": 0.031680518000000005,
|
|
"odom_linear_x": -0.08500000089406967,
|
|
"odom_angular_z": 0.09798766672611237
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.3317086617619016,
|
|
"yaw_error_to_goal": 0.7225263714790345,
|
|
"distance_to_plan_end": 1.2918309399479357,
|
|
"yaw_error_to_plan_end": 0.2611027765274045,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09214357924789932,
|
|
"angular_z": -0.08555967710446721
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09214358031749725,
|
|
"steering_angle": 0.1320100575685501
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.739495159999933,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7439197897911072,
|
|
"y": 1.0937035530805588,
|
|
"yaw": 0.7317578792572023,
|
|
"odom_age_sec": 0.031653684,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.08970178663730621
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.3227260168545427,
|
|
"yaw_error_to_goal": 0.7317578792572023,
|
|
"distance_to_plan_end": 1.2828113309515592,
|
|
"yaw_error_to_plan_end": 0.2518712687492368,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09278217953271636,
|
|
"angular_z": -0.0841776235028251
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09278217703104019,
|
|
"steering_angle": 0.12901762127876282
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.839546161001635,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7371917366981506,
|
|
"y": 1.0877534598112106,
|
|
"yaw": 0.7404963374137878,
|
|
"odom_age_sec": 0.031837934000000005,
|
|
"odom_linear_x": -0.08500000089406967,
|
|
"odom_angular_z": 0.08844540268182755
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.3140240659848261,
|
|
"yaw_error_to_goal": 0.7404963374137878,
|
|
"distance_to_plan_end": 1.2740745286818353,
|
|
"yaw_error_to_plan_end": 0.24313281059265124,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09284105550534073,
|
|
"angular_z": -0.0840488357765043
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09284105896949768,
|
|
"steering_angle": 0.12874162197113037
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 28.939368579000075,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7310050129890442,
|
|
"y": 1.0821819752454758,
|
|
"yaw": 0.7497472763061525,
|
|
"odom_age_sec": 0.031666767000000005,
|
|
"odom_linear_x": -0.08500000089406967,
|
|
"odom_angular_z": 0.09336453676223755
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.305942631420428,
|
|
"yaw_error_to_goal": 0.7497472763061525,
|
|
"distance_to_plan_end": 1.26596165128372,
|
|
"yaw_error_to_plan_end": 0.23388187170028663,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09312643906912935,
|
|
"angular_z": -0.08342130115330867
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09312643855810165,
|
|
"steering_angle": 0.12740348279476166
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.040834035000444,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7246480584144592,
|
|
"y": 1.0763487070798874,
|
|
"yaw": 0.7589811086654663,
|
|
"odom_age_sec": 0.032828265,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.09206603467464447
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.2975520597634573,
|
|
"yaw_error_to_goal": 0.7589811086654663,
|
|
"distance_to_plan_end": 1.2575394532345265,
|
|
"yaw_error_to_plan_end": 0.22464803934097277,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.0942744197920841,
|
|
"angular_z": -0.08084213826386648
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09427441656589508,
|
|
"steering_angle": 0.12201611697673798
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.13950412200029,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7180498242378235,
|
|
"y": 1.0701817721128464,
|
|
"yaw": 0.7686429023742676,
|
|
"odom_age_sec": 0.031803017,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.09854733943939209
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.2887531088034516,
|
|
"yaw_error_to_goal": 0.7686429023742676,
|
|
"distance_to_plan_end": 1.2487083690425256,
|
|
"yaw_error_to_plan_end": 0.2149862456321715,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09464128936535234,
|
|
"angular_z": -0.07999936903686423
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.0946412906050682,
|
|
"steering_angle": 0.12029291689395905
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.23940537300041,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7108590006828308,
|
|
"y": 1.063328430056572,
|
|
"yaw": 0.7787487506866454,
|
|
"odom_age_sec": 0.031626018,
|
|
"odom_linear_x": -0.09799999743700027,
|
|
"odom_angular_z": 0.10192504525184631
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.279057414277548,
|
|
"yaw_error_to_goal": 0.7787487506866454,
|
|
"distance_to_plan_end": 1.2389784818953604,
|
|
"yaw_error_to_plan_end": 0.20488039731979368,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09483612090354644,
|
|
"angular_z": -0.0795481560131165
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09483612328767776,
|
|
"steering_angle": 0.1193774864077568
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.339403957001196,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.7067741751670837,
|
|
"y": 1.0593759268522263,
|
|
"yaw": 0.7838768959045411,
|
|
"odom_age_sec": 0.08167624700000001,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.10216547548770905
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.2735018999110779,
|
|
"yaw_error_to_goal": 0.7838768959045411,
|
|
"distance_to_plan_end": 1.2334039081197206,
|
|
"yaw_error_to_plan_end": 0.19975225210189795,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09607177191112598,
|
|
"angular_z": -0.07662757570639007
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.0960717722773552,
|
|
"steering_angle": 0.11356711387634277
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.439465166000446,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.6989572644233704,
|
|
"y": 1.051693007349968,
|
|
"yaw": 0.7943646907806396,
|
|
"odom_age_sec": 0.031685893,
|
|
"odom_linear_x": -0.11100000143051147,
|
|
"odom_angular_z": 0.10582803189754486
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.2627745005340507,
|
|
"yaw_error_to_goal": 0.7943646907806396,
|
|
"distance_to_plan_end": 1.2226407655252194,
|
|
"yaw_error_to_plan_end": 0.1892644572257994,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09621300079840678,
|
|
"angular_z": -0.07628728577248632
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09621299803256989,
|
|
"steering_angle": 0.11290251463651657
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.540271706000567,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.6916839480400085,
|
|
"y": 1.0443941801786423,
|
|
"yaw": 0.8049083948135376,
|
|
"odom_age_sec": 0.032470974,
|
|
"odom_linear_x": -0.09799999743700027,
|
|
"odom_angular_z": 0.10394927114248276
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.252671500261434,
|
|
"yaw_error_to_goal": 0.8049083948135376,
|
|
"distance_to_plan_end": 1.212505459266276,
|
|
"yaw_error_to_plan_end": 0.1787207531929015,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09659976725486775,
|
|
"angular_z": -0.07534856789631701
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.0965997651219368,
|
|
"steering_angle": 0.11108195781707764
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.639409084000363,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.6848501563072205,
|
|
"y": 1.0373918265104294,
|
|
"yaw": 0.8149909973144531,
|
|
"odom_age_sec": 0.031727726000000005,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.09800806641578674
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.2430613574175127,
|
|
"yaw_error_to_goal": 0.8149909973144531,
|
|
"distance_to_plan_end": 1.2028659202559877,
|
|
"yaw_error_to_plan_end": 0.16863815069198596,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09702216148315417,
|
|
"angular_z": -0.07431198530384188
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.0970221608877182,
|
|
"steering_angle": 0.1090928465127945
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.739597126001172,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.678538978099823,
|
|
"y": 1.030795857310295,
|
|
"yaw": 0.8237534761428834,
|
|
"odom_age_sec": 0.031846475,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.08644790947437286
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.2340807284164268,
|
|
"yaw_error_to_goal": 0.8237534761428834,
|
|
"distance_to_plan_end": 1.1938590153044915,
|
|
"yaw_error_to_plan_end": 0.15987567186355567,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09857756923591621,
|
|
"angular_z": -0.0703923717282697
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09857756644487381,
|
|
"steering_angle": 0.1017608717083931
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.8394342520005,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.6723925471305847,
|
|
"y": 1.0242597311735153,
|
|
"yaw": 0.831922948360443,
|
|
"odom_age_sec": 0.031787726,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.08087944984436035
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.2252427246633206,
|
|
"yaw_error_to_goal": 0.831922948360443,
|
|
"distance_to_plan_end": 1.184996166796696,
|
|
"yaw_error_to_plan_end": 0.15170619964599608,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09884105501161278,
|
|
"angular_z": -0.069712414852829
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09884105622768402,
|
|
"steering_angle": 0.10051772743463516
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 29.939289837000615,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.6663035750389099,
|
|
"y": 1.01767997443676,
|
|
"yaw": 0.8402830362319947,
|
|
"odom_age_sec": 0.031612143,
|
|
"odom_linear_x": -0.08500000089406967,
|
|
"odom_angular_z": 0.08582355827093124
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.216401654257029,
|
|
"yaw_error_to_goal": 0.8402830362319947,
|
|
"distance_to_plan_end": 1.1761311703025341,
|
|
"yaw_error_to_plan_end": 0.14334611177444434,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.09919307807742091,
|
|
"angular_z": -0.06879675436057293
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.09919308125972748,
|
|
"steering_angle": 0.0988563671708107
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 30.03942183700019,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.6595913767814636,
|
|
"y": 1.0102990120649338,
|
|
"yaw": 0.8496260046958922,
|
|
"odom_age_sec": 0.031638893,
|
|
"odom_linear_x": -0.09799999743700027,
|
|
"odom_angular_z": 0.09570321440696716
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.2065508186992573,
|
|
"yaw_error_to_goal": 0.8496260046958922,
|
|
"distance_to_plan_end": 1.166254822725714,
|
|
"yaw_error_to_plan_end": 0.13400314331054686,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.10094564534315742,
|
|
"angular_z": -0.06411513758107905
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.10094564408063889,
|
|
"steering_angle": 0.09057723730802536
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
},
|
|
{
|
|
"elapsed_sec": 30.13955517100112,
|
|
"pose_map": {
|
|
"available": true,
|
|
"frame_id": "map",
|
|
"source_frame": "odom",
|
|
"x": 0.6533724665641785,
|
|
"y": 1.0033272951841354,
|
|
"yaw": 0.8597542643547058,
|
|
"odom_age_sec": 0.031650518,
|
|
"odom_linear_x": -0.09099999815225601,
|
|
"odom_angular_z": 0.10160456597805023
|
|
},
|
|
"goal": {
|
|
"elapsed_sec": 11.510467646001416,
|
|
"frame_id": "map",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"yaw": 0.0
|
|
},
|
|
"plan_end": {
|
|
"x": 0.005408366623766536,
|
|
"y": 0.044796603599786225,
|
|
"yaw": 0.9836291480064391
|
|
},
|
|
"distance_to_goal": 1.1973141782028942,
|
|
"yaw_error_to_goal": 0.8597542643547058,
|
|
"distance_to_plan_end": 1.156995488980298,
|
|
"yaw_error_to_plan_end": 0.12387488365173327,
|
|
"plan_end_to_goal": 0.045121902925446884,
|
|
"plan_end_yaw_to_goal": 0.9836291480064391,
|
|
"cmd_vel": {
|
|
"linear_x": -0.10170777646578139,
|
|
"angular_z": -0.062015379409347086
|
|
},
|
|
"ackermann_cmd": {
|
|
"speed": -0.10170777887105942,
|
|
"steering_angle": 0.08697296679019928
|
|
},
|
|
"planner_status": "plan_ok hybrid_astar points=69 iterations=242 obstacles=0 planning_ms=185.361 goal_error=0.045 yaw_error=0.984",
|
|
"tracker_status": "external_plan_ok points=69 length=2.040 goal=(0.005,0.045,0.984)"
|
|
}
|
|
]
|
|
} |