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ClemensElflein / open_mower_ros

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Do not abort current behaviour after emergency is cleared #86

Closed olliewalsh closed 3 months ago

olliewalsh commented 3 months ago

Rebased @2m's PR https://github.com/ClemensElflein/open_mower_ros/pull/65 on latest main and added patch to pause/resume during emergency.

Briefly tested it with by triggering/clearing emergency and not noticed any obvious issues. Also appears to resolve an issue where mower is enabled too early if gps drops/recovers before starting to mow

Fixes #52

rovo89 commented 3 months ago

I merged this PR because my I'm still struggling to finish my first full mowing session 🙈 Sure enough, the mower came too close to a wall and triggered emergency mode. I pulled the mower away a bit, cleared the emergency and indeed, mowing continued. But it didn't reliably re-enable the mower motor, I had to start it again manually (via Cedric's GUI). If the weather allows, I'll try in more detail tomorrow.

olliewalsh commented 3 months ago

@rovo89 can you grab the logs? It will not re-enable the mow motor immediately, drives to the first point in the path and then enables mowing. First point should be relatively close though

rovo89 commented 3 months ago

can you grab the logs?

Are there any instructions how to do that?

In my case, the "crash" happened while mowing the last round of area outline. With "first point in the path", do you mean that it would finish the outline path without mowing? And as soon as it starts the next path (obstacle outline), it would start mowing again?

rovo89 commented 3 months ago

can you grab the logs?

Ah, are you simply referring to the logs in /root/.ros? I copied some when I ran into this yesterday, but I guess I need to repeat it without the ROSCONSOLE_CONFIG_FILE and ROSOUT_DISABLE_FILE_LOGGING environment variables. Didn't find anything interesting for "emergency" in the "normal" logs.

rovo89 commented 3 months ago

Here it's clear to see that the motor stayed off after the emergency was cleared: image

I clear the emergency via Cedric's GUI, don't have any Cover UI. The first few times, the mower was too close to the wall, but upon clearing the emergency, it took a small turn left and was able to continue driving from there.

Later I used the "Blade forward" option in the GUI to turn the motor on again, so that was a manual action. Not sure if it would have turned on by itself for the next part of the area (see above, I'm not clear how "path" is defined).

olliewalsh commented 3 months ago

Ah, don't think openmower-gui clears the error correctly

rovo89 commented 3 months ago

Well, at least it does continue to drive afterwards... and I have no other way to test. I did another test run with more logs enabled, but I'll need to get to my PC to grab them.

rovo89 commented 3 months ago 
1716114355.087945028 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 50/243
1716114359.665874756 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 11 ms to write to the tx buffer, serial port is probably congested!
1716114360.186621870 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 55/243
1716114360.298721615 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:436(TimerEvent&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] GPS quality: 0.891833
1716114363.313582207 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 3
1716114364.313535169 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114365.285043063 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 66/243
1716114365.313501020 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114366.333584100 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114366.664739848 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 11 ms to write to the tx buffer, serial port is probably congested!
1716114367.157675112 ERROR /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:242(FTCPlanner::PlannerState ftc_local_planner::FTCPlanner::update_planner_state)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Robot is far away from global plan. distance (1.00482) > config.max_follow_distance (1) It probably has crashed.
1716114367.158092962 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:177(FTCPlanner::computeVelocityCommands)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Switching to state 4
1716114367.159064196 WARN /move_base_flex [/tmp/binarydeb/ros-noetic-mbf-abstract-nav-0.4.0/src/controller_action.cpp:258(ControllerAction::runImpl)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] No velocity command received from controller! 
1716114367.333504637 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114368.353487477 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114369.353815362 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114370.206800254 WARN /move_base_flex [/tmp/binarydeb/ros-noetic-mbf-abstract-nav-0.4.0/src/controller_action.cpp:258(ControllerAction::runImpl)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] No velocity command received from controller! 
1716114370.385521501 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 68/243
1716114370.798694269 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:436(TimerEvent&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] GPS quality: 0.90566
1716114372.157120941 WARN /move_base_flex [/tmp/binarydeb/ros-noetic-mbf-abstract-nav-0.4.0/src/controller_action.cpp:230(ControllerAction::runImpl)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] The controller has been aborted after it exceeded the patience time
1716114372.181428312 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:490(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW)  Got status 5 from MBF/FTCPlanner -> Stopping path execution.
1716114372.181530534 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:501(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] >> MowingBehavior: (MOW) PlannerGetProgress currentMowingPathIndex = 68 of 243
1716114372.181582718 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:255(printNavState)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] >>> State: Aborted <<<
1716114372.181632014 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:523(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) PAUSED due to MBF Error at 68
1716114372.186982019 INFO /xbot_monitoring [/opt/open_mower_ros/src/lib/xbot_monitoring/src/xbot_monitoring.cpp:525(RegisterActionsSrvRequest&, xbot_msgs::RegisterActionsSrvResponse&))] [topics: /rosout, /joy_vel, /xbot/action] new actions registered: mower_logic:mowing registered 4 actions.
1716114372.189911112 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:137(string, const std::vector<xbot_msgs::ActionInfo_<std::allocator<void> > >&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] successfully registered actions for mower_logic:mowing
1716114372.190462665 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:295(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: CONTINUING
1716114372.196728793 INFO /xbot_monitoring [/opt/open_mower_ros/src/lib/xbot_monitoring/src/xbot_monitoring.cpp:525(RegisterActionsSrvRequest&, xbot_msgs::RegisterActionsSrvResponse&))] [topics: /rosout, /joy_vel, /xbot/action] new actions registered: mower_logic:mowing registered 4 actions.
1716114372.199568165 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:137(string, const std::vector<xbot_msgs::ActionInfo_<std::allocator<void> > >&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] successfully registered actions for mower_logic:mowing
1716114372.200003347 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:302(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: Path segment length: 243 poses.
1716114372.200326919 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:320(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (FIRST POINT)  Moving to path segment starting point
1716114372.240155677 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:110(FTCPlanner::setPlan)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Got new global plan with 38 points.
1716114372.676834339 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 23 ms to write to the tx buffer, serial port is probably congested!
1716114380.798800285 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:436(TimerEvent&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] GPS quality: 0.90566
1716114383.228306615 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:231(FTCPlanner::PlannerState ftc_local_planner::FTCPlanner::update_planner_state)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: PRE_ROTATE finished. Starting following
1716114383.228406633 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:177(FTCPlanner::computeVelocityCommands)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Switching to state 1
1716114383.564820959 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 11 ms to write to the tx buffer, serial port is probably congested!
1716114385.669416003 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 16 ms to write to the tx buffer, serial port is probably congested!
1716114389.428636789 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:250(FTCPlanner::PlannerState ftc_local_planner::FTCPlanner::update_planner_state)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: switching planner to position mode
1716114389.428740788 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:177(FTCPlanner::computeVelocityCommands)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Switching to state 2
1716114389.478237487 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:265(FTCPlanner::PlannerState ftc_local_planner::FTCPlanner::update_planner_state)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Reached goal position.
1716114389.478346857 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:177(FTCPlanner::computeVelocityCommands)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Switching to state 3
1716114389.528325942 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:279(FTCPlanner::PlannerState ftc_local_planner::FTCPlanner::update_planner_state)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: POST_ROTATE finished.
1716114389.528422590 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:177(FTCPlanner::computeVelocityCommands)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Switching to state 4
1716114389.578036159 INFO /move_base_flex [/tmp/binarydeb/ros-noetic-mbf-abstract-nav-0.4.0/src/move_base_action.cpp:338(MoveBaseAction::actionExePathDone)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] Action "move_base" succeeded!
1716114389.601091667 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:371(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (FIRST POINT)  Got status 6 from MBF/FTCPlanner -> Stopping path execution.
1716114389.604430776 INFO /map_service [/opt/open_mower_ros/src/mower_map/src/mower_map_service.cpp:602(ClearNavPointSrvRequest&, mower_map::ClearNavPointSrvResponse&))] [topics: /rosout, /mower_map_service/map, /mower_map_service/map_areas, /mower_map_service/map_viz, /xbot_monitoring/map] Clearing Nav Point
1716114389.604588386 INFO /map_service [/opt/open_mower_ros/src/mower_map/src/mower_map_service.cpp:299(buildMap)] [topics: /rosout, /mower_map_service/map, /mower_map_service/map_areas, /mower_map_service/map_viz, /xbot_monitoring/map] Map Position: x=-6.52302, y=-8.25817
1716114389.604635108 INFO /map_service [/opt/open_mower_ros/src/mower_map/src/mower_map_service.cpp:300(buildMap)] [topics: /rosout, /mower_map_service/map, /mower_map_service/map_areas, /mower_map_service/map_viz, /xbot_monitoring/map] Map Size: x=15.9147, y=18.5163
1716114390.004273624 INFO /map_service [/opt/open_mower_ros/src/mower_map/src/mower_map_service.cpp:212(visualizeAreas)] [topics: /rosout, /mower_map_service/map, /mower_map_service/map_areas, /mower_map_service/map_viz, /xbot_monitoring/map] docking pose: position: 
  x: -4.46441
  y: 4.12758
  z: 0
orientation: 
  x: 0
  y: 0
  z: 0.462857
  w: 0.886433

1716114390.007479049 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:441(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) First point reached - Executing mow path with 243 poses, from index 68
1716114390.037634792 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:110(FTCPlanner::setPlan)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Got new global plan with 175 points.
1716114390.038427750 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:231(FTCPlanner::PlannerState ftc_local_planner::FTCPlanner::update_planner_state)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: PRE_ROTATE finished. Starting following
1716114390.038645156 INFO /move_base_flex [/opt/open_mower_ros/src/lib/ftc_local_planner/src/ftc_planner.cpp:177(FTCPlanner::computeVelocityCommands)] [topics: /rosout, /move_base_flex/current_goal, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel, /move_base_flex/get_path/goal, /move_base_flex/get_path/cancel, /move_base_flex/recovery/goal, /move_base_flex/recovery/cancel, /current_goal, /nav_vel, /move_base_flex/local_costmap/static_layer/parameter_descriptions, /move_base_flex/local_costmap/static_layer/parameter_updates, /move_base_flex/local_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/local_costmap/obstacle_layer/parameter_updates, /move_base_flex/local_costmap/inflation_layer/parameter_descriptions, /move_base_flex/local_costmap/inflation_layer/parameter_updates, /move_base_flex/local_costmap/footprint, /move_base_flex/local_costmap/costmap, /move_base_flex/local_costmap/costmap_updates, /move_base_flex/local_costmap/parameter_descriptions, /move_base_flex/local_costmap/parameter_updates, /move_base_flex/global_costmap/static_layer/parameter_descriptions, /move_base_flex/global_costmap/static_layer/parameter_updates, /move_base_flex/global_costmap/obstacle_layer/parameter_descriptions, /move_base_flex/global_costmap/obstacle_layer/parameter_updates, /move_base_flex/global_costmap/inflation_layer/parameter_descriptions, /move_base_flex/global_costmap/inflation_layer/parameter_updates, /move_base_flex/global_costmap/footprint, /move_base_flex/global_costmap/costmap, /move_base_flex/global_costmap/costmap_updates, /move_base_flex/global_costmap/parameter_descriptions, /move_base_flex/global_costmap/parameter_updates, /move_base_flex/parameter_descriptions, /move_base_flex/parameter_updates, /move_base_flex/GlobalPlanner/plan, /move_base_flex/GlobalPlanner/potential, /move_base_flex/GlobalPlanner/parameter_descriptions, /move_base_flex/GlobalPlanner/parameter_updates, /move_base_flex/FTCPlanner/global_point, /move_base_flex/FTCPlanner/global_plan, /move_base_flex/FTCPlanner/costmap_marker, /move_base_flex/FTCPlanner/parameter_descriptions, /move_base_flex/FTCPlanner/parameter_updates, /move_base_flex/FTCPlanner/debug_pid, /move_base_flex/DockingFTCPlanner/global_point, /move_base_flex/DockingFTCPlanner/global_plan, /move_base_flex/DockingFTCPlanner/costmap_marker, /move_base_flex/DockingFTCPlanner/parameter_descriptions, /move_base_flex/DockingFTCPlanner/parameter_updates, /move_base_flex/get_path/result, /move_base_flex/get_path/feedback, /move_base_flex/get_path/status, /move_base_flex/exe_path/result, /move_base_flex/exe_path/feedback, /move_base_flex/exe_path/status, /move_base_flex/recovery/result, /move_base_flex/recovery/feedback, /move_base_flex/recovery/status, /move_base_flex/move_base/result, /move_base_flex/move_base/feedback, /move_base_flex/move_base/status] FTCLocalPlannerROS: Switching to state 1
1716114391.011565003 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 69/243
1716114391.298635702 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:436(TimerEvent&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] GPS quality: 0.891833
1716114392.794249780 INFO /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:279(MowerControlSrvRequest&, mower_msgs::MowerControlSrvResponse&))] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Setting mow enabled to -1
1716114396.112682576 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 75/243

I think the emergency started at 1716114363, I cleared it after less than 10 seconds. At 1716114392 I enabled the blade via GUI.

Here's another one:

1716114401.211617049 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 83/243
1716114401.298647594 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:436(TimerEvent&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] GPS quality: 0.891833
1716114402.768783326 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 15 ms to write to the tx buffer, serial port is probably congested!
1716114406.211899084 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 89/243
1716114407.113948675 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 3
1716114408.133891920 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114409.153553092 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114410.153627847 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114411.173511499 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114411.298668646 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:436(TimerEvent&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] GPS quality: 0.90566
1716114411.311719122 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 97/243
1716114412.193530410 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114413.193905367 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114414.213466447 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114415.213611775 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114416.233470112 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114416.311933117 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 103/243
1716114417.233501329 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114417.568425219 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 14 ms to write to the tx buffer, serial port is probably congested!
1716114418.253520555 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114419.273502002 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114420.273629423 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114421.293490982 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114421.298742487 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:436(TimerEvent&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] GPS quality: 0.90566
1716114421.412324519 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 111/243
1716114422.293650124 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114423.313976366 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114424.333649797 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114425.354034797 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114426.373459933 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114426.412456881 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 116/243
1716114427.373570334 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114428.374162492 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114429.393556720 ERROR /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:200(publishStatus)] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Low Level Emergency. Bitmask was: 1
1716114430.568564354 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 14 ms to write to the tx buffer, serial port is probably congested!
1716114431.512196395 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 124/243
1716114431.798657616 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:436(TimerEvent&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] GPS quality: 0.891833
1716114436.513114953 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 130/243
1716114441.612440077 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 137/243
1716114441.798684241 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/mower_logic.cpp:436(TimerEvent&))] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] GPS quality: 0.891833
1716114443.827730014 INFO /mower_comms [/opt/open_mower_ros/src/mower_comms/src/mower_comms.cpp:279(MowerControlSrvRequest&, mower_msgs::MowerControlSrvResponse&))] [topics: /rosout, /mower/status, /mower/wheel_ticks, /imu/data_raw, /imu/mag] Setting mow enabled to -1
1716114444.668083738 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 14 ms to write to the tx buffer, serial port is probably congested!
1716114446.711763885 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 143/243
1716114450.974076818 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 17 ms to write to the tx buffer, serial port is probably congested!
1716114451.667959950 ERROR /xbot_driver_gps [/opt/open_mower_ros/src/lib/xbot_driver_gps/src/driver_gps_node.cpp:106(string, xbot::driver::gps::GpsInterface::Level))] [topics: /rosout, /nmea, /xbot_driver_gps/pose, /xbot_driver_gps/xb_pose, /xbot_driver_gps/imu] [driver_gps] waited 14 ms to write to the tx buffer, serial port is probably congested!
1716114451.713176916 INFO /mower_logic [/opt/open_mower_ros/src/mower_logic/src/mower_logic/behaviors/MowingBehavior.cpp:486(execute_mowing_plan)] [topics: /rosout, /mower_logic/parameter_descriptions, /mower_logic/parameter_updates, /logic_vel, /mower_logic/mowing_path, /mower_logic/current_state, /move_base_flex/move_base/goal, /move_base_flex/move_base/cancel, /move_base_flex/exe_path/goal, /move_base_flex/exe_path/cancel] MowingBehavior: (MOW) Progress: 150/243

Emergency at 1716114407, cleared it after a bit less than 30 seconds. Re-enabled the mower at 1716114443.

olliewalsh commented 3 months ago

Confirmed it's an openmower-gui issue. Doesn't work when clearing emergency via openmower-gui, work fine if using the cover UI button.

rovo89 commented 3 months ago

OK, so I guess I'll have to check what the GUI does and what the official way would be - assuming that there is one. "Clear emergency" should probably be an action in some central service which gets called by the Cover UI and the GUI (and MQTT and...) in the same way.

olliewalsh commented 3 months ago

https://github.com/cedbossneo/openmower-gui/pull/40

11phc commented 3 months ago

@rovo89 can you grab the logs? It will not re-enable the mow motor immediately, drives to the first point in the path and then enables mowing. First point should be relatively close though

I'm now testing and finding likewise-> that it restarts the path correctly after an emergency but doesn't re-enable the mow motow, not even after minute or two off following it's usual little route around. So, nearly there, and it's easy to reenable motor manually at same time as clearning emergency. So vast improvement for me already, thanks

Sample log from turning emergency mode off:

[ERROR] [1716212826.663697518]: Low Level Emergency. Bitmask was: 1 [ERROR] [1716212827.678688769]: Low Level Emergency. Bitmask was: 1 [ INFO] [1716212829.414956694]: MowingBehavior: (MOW) Progress: 5/6 [ WARN] [1716212830.065846334]: FTCLocalPlannerROS: Could not reach goal position. config.goal_timeout (20) reached - Attempting final rotation anyways. [ INFO] [1716212830.065989488]: FTCLocalPlannerROS: Switching to state 3 [ INFO] [1716212830.115806610]: FTCLocalPlannerROS: POST_ROTATE finished. [ INFO] [1716212830.116049434]: FTCLocalPlannerROS: Switching to state 4 [ INFO] [1716212830.210653645]: MowingBehavior: (MOW) Got status 6 from MBF/FTCPlanner -> Stopping path execution. [ INFO] [1716212830.210962323]: >> MowingBehavior: (MOW) PlannerGetProgress currentMowingPathIndex = 5 of 6 [ INFO] [1716212830.211704720]: >>> State: Succeeded <<< [ INFO] [1716212830.211881708]: MowingBehavior: (MOW) Mow path finished, skipping to next mow path. [ INFO] [1716212830.212021898]: MowingBehavior: Path segment length: 40 poses. [ INFO] [1716212830.212155070]: MowingBehavior: (FIRST POINT) Moving to path segment starting point [ INFO] [1716212830.276657022]: FTCLocalPlannerROS: Got new global plan with 799 points. [ INFO] [1716212832.067964660]: FTCLocalPlannerROS: PRE_ROTATE finished. Starting following [ INFO] [1716212832.068148167]: FTCLocalPlannerROS: Switching to state 1 [ INFO] [1716212835.080175665]: GPS quality: 0.913977 [ INFO] [1716212845.580120914]: GPS quality: 0.913977

olliewalsh commented 3 months ago

@11phc @rovo89 can you try with the latest commit? Should work now

11phc commented 3 months ago

@11phc @rovo89 can you try with the latest commit? Should work now

yes, thanks I noticed that and I'm trying to build it now. I'm a bit new to git, but just to check, am i correct in saying the best way to do this is to:

  1. git fetch your repo
  2. git checkout your branch fix/no-abort-after-emergency-2m to a new branch on my local repo
  3. git push that branch to my origin
  4. run build action on github website (around an hour or so)
  5. pull new image on pi and run etc.

??

Or is there a quicker way to do it by pulling one of your builds directly?

thanks

rovo89 commented 3 months ago

@11phc @rovo89 can you try with the latest commit? Should work now

Do we still need the update to the GUI for this to work?

rovo89 commented 3 months ago

@11phc @rovo89 can you try with the latest commit? Should work now

yes, thanks I noticed that and I'm trying to build it now. I'm a bit new to git, but just to check, am i correct in saying the best way to do this is to:

  1. git fetch your repo
  2. git checkout your branch fix/no-abort-after-emergency-2m to a new branch on my local repo
  3. git push that branch to my origin
  4. run build action on github website (around an hour or so)
  5. pull new image on pi and run etc.

??

Or is there a quicker way to do it by pulling one of your builds directly?

thanks

This maybe? https://github.com/olliewalsh/open_mower_ros/pkgs/container/open_mower_ros

I have meanwhile changed my setup to a self-built container with ROS and other dependencies, but not Open Mower itself. Then I cloned the open_mower_ros repo and mount it into the container for compiling, so it can use incremental builds. I use the same container and mount for actually running the robot. So whenever I want to try something new, I just need to pull/do the change, recompile (usually seconds) and then restart the container. WIP is published at https://github.com/rovo89/open_mower_bare_container, but I'm still experimenting and it's not documented yet.

11phc commented 3 months ago

ah yes that latest build on OW's page looks like it. I looked about four hours ago and that one wasnt there then. Anyway nearly built it myself now so I'll give that a go. 👍

olliewalsh commented 3 months ago

@11phc @rovo89 don't have an image for you to pull, will create one now...

rovo89 commented 3 months ago

@11phc @rovo89 don't have an image for you to pull, will create one now...

I think it already exists (see link above)?!? But both of us seems to have other ways to try the change, so you can save your time.

olliewalsh commented 3 months ago

That branch wasn't the current version. This one is up to date if you want to try it ghcr.io/olliewalsh/open_mower_ros:releases-no-abort-after-emergency-2m

olliewalsh commented 3 months ago

(no change required in openmower-gui, the service it was calling should have worked and now does)

2m commented 3 months ago

This is a bit offtopic, but still related: I noticed that if emergency is cleared not immediately, but after some time, then after emergency is cleared the mower goes to the IDLE state (I am still running with the code from my older fix branch). Is that just a bug from my faulty bug fix, or is that a normal behaviour? I would like to increase this timeout.

olliewalsh commented 3 months ago

This is a bit offtopic, but still related: I noticed that if emergency is cleared not immediately, but after some time, then after emergency is cleared the mower goes to the IDLE state (I am still running with the code from my older fix branch). Is that just a bug from my faulty bug fix, or is that a normal behaviour? I would like to increase this timeout.

Don't think that will be an issue with this PR, will stay paused until emergency is cleared.

rovo89 commented 3 months ago

I noticed the same. But not a big problem anymore because "Start" continues at the same spot.

olliewalsh commented 3 months ago

I noticed the same. But not a big problem anymore because "Start" continues at the same spot.

Do you mean with the latest version of this PR?

rovo89 commented 3 months ago

Do you mean with the latest version of this PR?

I wasn't able to test the last commit yet. I don't see anything related to timeouts in it, but maybe it's fixed indirectly.

olliewalsh commented 3 months ago

IIRC Originally when emergency is cleared it would abort mowing behaviour, which will switch directly to docking behaviour. However mowing behaviour would still continue trying to move during emergency. I think this eventually gives up (once it has skipped all the way to the end of the last area) and switches to docking behaviour, which eventually gives up and switches to IDLE. With the changes from @2m it would no longer abort the mowing behaviour but that just resolved one aspect of the problem.

With the latest changes in the PR is pausing mowing behaviour on emergency and resuming mowing behaviour when the emergency is cleared, so should fix that issue directly

rovo89 commented 3 months ago

I can confirm that with the latest commit, the mower happily continues to mow after turning off emergency mode via Cedric's GUI.

I haven't experienced the "timeout" issue. Not 100% sure it's gone, as I had very limited time to test, but the main objective of the PR is fulfilled, so I would suggest to merge it. If it comes up again, I'll report back.

11phc commented 3 months ago

havent had a chance to check yet as raining in sunny uk! hopefully tomorrow. But sounds good.

olliewalsh commented 3 months ago

@ClemensElflein it's not that pretty but I think the logic is correct now so should be good to merge when you have time

Apehaenger commented 3 months ago

Also tested today. Made a couple of tries, also carried him some meters away after emergency. Always released emergency via CoverUI. Worked quite good!!

Thanks a lot @olliewalsh !!

11phc commented 3 months ago

working well for me too 👍🙏