aayushjr
commented
6 years ago A relevant fix was clearing the waypoints in mongodb_store before adding from a custom waypoint file. When the RPSimpleMapServer instance is created with custom file and calls setupRoadmap, it adds your waypoints to message_store. However, it seems message_store already has a waypoint with name wp0 to wp9 stored (this is without calling generateRoadmap() ). If it already exists, message_store.insertNamed will not overwrite new value and leave the old one, ignoring your custom waypoint values. One workaround is to check if the waypoint exists and update it if it does using this in setupRoadmap():
std::vector< boost::shared_ptr<geometry_msgs::PoseStamped> > checkResults; if(message_store.queryNamed<geometry_msgs::PoseStamped>(name, checkResults)) { message_store.updateNamed(name, pose); } else { std::string id(message_store.insertNamed(name, pose)); db_name_map[name] = id; }
This is however not a proper fix. The message_store should be cleared before setupRoadmap(). If someone knows how to clear message_store by name, the fix should be merged in current branch.
yashu88
m312z
yangshuo11
oscar-lima
I gave my own way points for the robot to follow using waypoints.txt file I have changed the rosplan_roadmap_server.launch file to
From RPSimpleMapServer.cpp, the waypoints.txt file was loaded. The number of waypoints being loaded is correct but the robot travels elsewhere.
0.000000000 Node Startup 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:80(service::exists) [topics: /rosout] waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] has not been advertised, waiting... 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-nodelet-1.9.14/src/loader.cpp:233(Loader::Impl::advertiseRosApi) [topics: /rosout] Initializing nodelet with 8 worker threads. 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:80(service::exists) [topics: /rosout] waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] has not been advertised, waiting... 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-nodelet-1.9.14/src/nodelet.cpp:202(loadNodelet) [topics: /rosout] /navigation_velocity_smoother/smooth_cmd_vel -> /cmd_vel_mux/input/navi 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-yocs-velocity-smoother-0.8.2/src/velocity_smoother_nodelet.cpp:55(VelocitySmoother::reconfigCB) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates] Reconfigure request : 0.800000 5.400000 1.000000 2.000000 1.500000 0.000000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:496(main) [topics: /rosout] KCL: (KB) Parsing domain 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:80(service::exists) [topics: /rosout] waitForService: Service [/laserscan_nodelet_manager/load_nodelet] has not been advertised, waiting... 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-map-server-1.14.2/src/main.cpp:175(MapServer) [topics: /rosout] Read a 231 X 194 map @ 0.050 m/cell 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-nodelet-1.9.14/src/loader.cpp:233(Loader::Impl::advertiseRosApi) [topics: /rosout] Initializing nodelet with 8 worker threads. 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-nodelet-1.9.14/src/nodelet.cpp:202(loadNodelet) [topics: /rosout] /kobuki_safety_controller/events/wheel_drop -> /mobile_base/events/wheel_drop 0.000000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/DomainParser.cpp:20(DomainParser::parseDomain) [topics: /rosout] KCL: (KB) Parsing domain: /home/sunny/catkin_ws/src/ROSPlan/rosplan_demos/common/domain_turtlebot_demo.pddl. 0.000000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:530(main) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Waiting for MongoDB 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:80(service::exists) [topics: /rosout, /kcl_rosplan/notification] waitForService: Service [/message_store/delete] has not been advertised, waiting... 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:80(service::exists) [topics: /rosout, /message_store/insert] waitForService: Service [/message_store/insert] has not been advertised, waiting... 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:80(service::exists) [topics: /rosout, /message_store/insert] waitForService: Service [/message_store/insert] has not been advertised, waiting... 0.000000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:490(main) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Using the standard PDDL problem generator. 0.000000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:504(main) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Ready to receive 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-safety-controller-0.7.5/src/nodelet.cpp:69(SafetyControllerNodelet::onInit) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates, /cmd_vel_mux/input/navi, /mobile_base_nodelet_manager/bond] Initialising nodelet... [kobuki_safety_controller] 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-safety-controller-0.7.5/src/nodelet.cpp:73(SafetyControllerNodelet::onInit) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates, /cmd_vel_mux/input/navi, /mobile_base_nodelet_manager/bond, /cmd_vel_mux/input/safety_controller] Kobuki initialised. Spinning up update thread ... [kobuki_safety_controller] 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-safety-controller-0.7.5/src/nodelet.cpp:75(SafetyControllerNodelet::onInit) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates, /cmd_vel_mux/input/navi, /mobile_base_nodelet_manager/bond, /cmd_vel_mux/input/safety_controller] Nodelet initialised. [kobuki_safety_controller] 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-amcl-1.14.2/src/amcl_node.cpp:774(requestMap) [topics: /rosout, /tf, /amcl_pose, /particlecloud] Requesting the map... 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-map-server-1.14.2/src/main.cpp:205(mapCallback) [topics: /rosout, /map_metadata, /map] Sending map 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-amcl-1.14.2/src/amcl_node.cpp:804(handleMapMessage) [topics: /rosout, /tf, /amcl_pose, /particlecloud] Received a 231 X 194 map @ 0.050 m/pix
0.000000000 INFO [/tmp/binarydeb/ros-kinetic-amcl-1.14.2/src/amcl_node.cpp:872(handleMapMessage) [topics: /rosout, /tf, /amcl_pose, /particlecloud] Initializing likelihood field model; this can take some time on large maps... 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-amcl-1.14.2/src/amcl_node.cpp:875(handleMapMessage) [topics: /rosout, /tf, /amcl_pose, /particlecloud] Done initializing likelihood field model. 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:80(service::exists) [topics: /rosout] waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-rviz-1.12.15/src/rviz/ogre_helpers/render_system.cpp:430(RenderWindow* rviz::RenderSystem::makeRenderWindow) [topics: /rosout] Stereo is NOT SUPPORTED 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-rviz-1.12.15/src/rviz/ogre_helpers/render_system.cpp:211(RenderSystem::detectGlVersion) [topics: /rosout] OpenGl version: 3 (GLSL 1.3). 0.000000000 INFO [mongodb_server.py:133(_mongo_loop) [topics: /clock, /rosout] 2018-03-22T01:08:34.867+0100 [initandlisten] recover : no journal files present, no recovery needed 0.000000000 INFO [mongodb_server.py:133(_mongo_loop) [topics: /clock, /rosout] 2018-03-22T01:08:35.142+0100 [initandlisten] waiting for connections on port 27017 0.000000000 INFO [gazebo_interface.py:27(spawn_urdf_model_client) [topics: /clock, /rosout] Waiting for service /gazebo/spawn_urdf_model 1193.022000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:122(service::waitForService) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states] waitForService: Service [/gazebo/set_physics_properties] is now available. 1193.081000000 INFO [/tmp/binarydeb/ros-kinetic-gazebo-ros-2.5.14/src/gazebo_ros_api_plugin.cpp:2083(GazeboRosApiPlugin::physicsReconfigureThread) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Physics dynamic reconfigure ready. 1193.191000000 INFO [gazebo_interface.py:31(spawn_urdf_model_client) [topics: /clock, /rosout] Calling service /gazebo/spawn_urdf_model 0.000000000 INFO [/tmp/binarydeb/ros-kinetic-rviz-1.12.15/src/rviz/default_plugin/map_display.cpp:604(MapDisplay::createSwatches) [topics: /rosout, /initialpose, /move_base_simple/goal] Creating 1 swatches 1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-gazebo-plugins-2.5.14/include/gazebo_plugins/gazebo_ros_utils.h:95(__cxx11::string gazebo::GetRobotNamespace) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Camera Plugin: Using the 'robotNamespace' param: '/' 1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-gazebo-plugins-2.5.14/src/gazebo_ros_camera_utils.cpp:292(GazeboRosCameraUtils::LoadThread) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Camera Plugin (ns = /), set to ""
1193.225000000 INFO [gazebo_interface.py:33(spawn_urdf_model_client) [topics: /clock, /rosout] Spawn status: SpawnModel: Successfully spawned entity
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-gazebo-plugins-2.5.14/src/gazebo_ros_utils.cpp:57(GazeboRos::readCommonParameter) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf] Starting plugin Kobuki(ns = //)
1193.225000000 WARN [/tmp/binarydeb/ros-kinetic-gazebo-plugins-2.5.14/include/gazebo_plugins/gazebo_ros_utils.h:231(GazeboRos::getParameter) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf] Kobuki(ns = //): missing default is na
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-gazebo-plugins-2.5.14/src/gazebo_ros_utils.cpp:93(GazeboRos::readCommonParameter) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf] Kobuki(ns = //): =
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki_loads.cpp:103(GazeboRosKobuki::preparePublishTf) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf] Will publish tf. [mobile_base]
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki_loads.cpp:318(GazeboRosKobuki::setupRosApi) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf, /joint_states, /camera/rgb/image_raw/compressed] Kobuki(ns = //): Advertise joint_states[joint_states]!
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki_loads.cpp:323(GazeboRosKobuki::setupRosApi) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf, /joint_states, /camera/rgb/image_raw/compressed, /odom] Kobuki(ns = //): Advertise Odometry[odom]!
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki_loads.cpp:330(GazeboRosKobuki::setupRosApi) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf, /joint_states, /camera/rgb/image_raw/compressed, /odom, /camera/rgb/image_raw/compressed/parameter_descriptions] Kobuki(ns = //): Try to subscribe to mobile_base/commands/motor_power!
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki_loads.cpp:335(GazeboRosKobuki::setupRosApi) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf, /joint_states, /camera/rgb/image_raw/compressed, /odom, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates] Kobuki(ns = //): Try to subscribe to mobile_base/commands/reset_odometry!
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki_loads.cpp:340(GazeboRosKobuki::setupRosApi) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf, /joint_states, /camera/rgb/image_raw/compressed, /odom, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates] Kobuki(ns = //): Try to subscribe to mobile_base/commands/velocity!
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki_loads.cpp:345(GazeboRosKobuki::setupRosApi) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf, /joint_states, /camera/rgb/image_raw/compressed, /odom, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates, /mobile_base/events/cliff] Kobuki(ns = //): Advertise Cliff[mobile_base/events/cliff]!
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki_loads.cpp:350(GazeboRosKobuki::setupRosApi) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf, /joint_states, /camera/rgb/image_raw/compressed, /odom, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates, /mobile_base/events/cliff, /mobile_base/events/bumper] Kobuki(ns = //): Advertise Bumper[mobile_base/events/bumper]!
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki_loads.cpp:355(GazeboRosKobuki::setupRosApi) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf, /joint_states, /camera/rgb/image_raw/compressed, /odom, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates, /mobile_base/events/cliff, /mobile_base/events/bumper, /mobile_base/sensors/imu_data] Kobuki(ns = //): Advertise IMU[mobile_base/sensors/imu_data]!
1193.225000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-gazebo-plugins-0.5.7/src/gazebo_ros_kobuki.cpp:83(GazeboRosKobuki::Load) [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /camera/parameter_descriptions, /camera/parameter_updates, /camera/rgb/image_raw/compressedDepth, /camera/rgb/image_raw/compressedDepth/parameter_descriptions, /camera/rgb/image_raw/compressedDepth/parameter_updates, /tf, /joint_states, /camera/rgb/image_raw/compressed, /odom, /camera/rgb/image_raw/compressed/parameter_descriptions, /camera/rgb/image_raw/compressed/parameter_updates, /mobile_base/events/cliff, /mobile_base/events/bumper, /mobile_base/sensors/imu_data] GazeboRosKobuki plugin ready to go! [mobile_base]
1193.226000000 WARN [/tmp/binarydeb/ros-kinetic-amcl-1.14.2/src/amcl_node.cpp:762(checkLaserReceived) [topics: /rosout, /tf, /amcl_pose, /particlecloud, /amcl/parameter_descriptions, /amcl/parameter_updates] No laser scan received (and thus no pose updates have been published) for 1193.226000 seconds. Verify that data is being published on the /scan topic.
1193.227000000 WARN [/tmp/binarydeb/ros-kinetic-amcl-1.14.2/src/amcl_node.cpp:762(checkLaserReceived) [topics: /rosout, /tf, /amcl_pose, /particlecloud, /amcl/parameter_descriptions, /amcl/parameter_updates] No laser scan received (and thus no pose updates have been published) for 1193.227000 seconds. Verify that data is being published on the /scan topic.
1193.237000000 WARN [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/src/costmap_2d_ros.cpp:93(Costmap2DROS::Costmap2DROS) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal] Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 1193.24 timeout was 0.1.
1193.249000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:122(service::waitForService) [topics: /rosout] waitForService: Service [/laserscan_nodelet_manager/load_nodelet] is now available.
1193.250000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:122(service::waitForService) [topics: /rosout] waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] is now available.
1193.251000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:122(service::waitForService) [topics: /rosout] waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] is now available.
1193.339000000 INFO [/tmp/binarydeb/ros-kinetic-yocs-cmd-vel-mux-0.8.2/src/cmd_vel_mux_nodelet.cpp:243(CmdVelMuxNodelet::reloadConfiguration) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates, /cmd_vel_mux/input/navi, /mobile_base_nodelet_manager/bond, /cmd_vel_mux/input/safety_controller, /cmd_vel_mux/parameter_descriptions, /cmd_vel_mux/parameter_updates, /mobile_base/commands/velocity] CmdVelMux : (re)configured
1193.378000000 INFO [/tmp/binarydeb/ros-kinetic-kobuki-bumper2pc-0.7.5/src/kobuki_bumper2pc.cpp:134(Bumper2PcNodelet::onInit) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates, /cmd_vel_mux/input/navi, /mobile_base_nodelet_manager/bond, /cmd_vel_mux/input/safety_controller, /cmd_vel_mux/parameter_descriptions, /cmd_vel_mux/parameter_updates, /mobile_base/commands/velocity, /cmd_vel_mux/active, /mobile_base/sensors/bumper_pointcloud] Bumper/cliff pointcloud configured at distance 0.240000 and height 0.040000 from base frame
1194.131000000 INFO topics: /clock, /rosout [topics: /clock, /rosout] Waiting for local datacentre (timeout: 10)
1194.138000000 INFO [mongodb_server.py:133(_mongo_loop) [topics: /clock, /rosout] 2018-03-22T01:08:37.399+0100 [initandlisten] connection accepted from 127.0.0.1:57368 #1 (1 connection now open)
1194.159000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:122(service::waitForService) [topics: /rosout, /message_store/insert] waitForService: Service [/message_store/insert] is now available.
1194.159000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:122(service::waitForService) [topics: /rosout, /message_store/insert] waitForService: Service [/message_store/insert] is now available.
1194.692000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/src/costmap_2d_ros.cpp:122(Costmap2DROS::Costmap2DROS) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal] Using plugin "static_layer"
1194.702000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/plugins/static_layer.cpp:87(StaticLayer::onInitialize) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal] Requesting the map...
1194.909000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/plugins/static_layer.cpp:180(StaticLayer::incomingMap) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal] Resizing costmap to 231 X 194 at 0.050000 m/pix
1195.009000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/plugins/static_layer.cpp:99(StaticLayer::onInitialize) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal] Received a 231 X 194 map at 0.050000 m/pix
1195.018000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/src/costmap_2d_ros.cpp:122(Costmap2DROS::Costmap2DROS) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates] Using plugin "obstacle_layer"
1195.026000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/plugins/obstacle_layer.cpp:76(ObstacleLayer::onInitialize) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates] Subscribed to Topics: scan bump
1195.079000000 INFO [/tmp/binarydeb/ros-kinetic-roscpp-1.12.12/src/libros/service.cpp:122(service::waitForService) [topics: /rosout, /kcl_rosplan/notification] waitForService: Service [/message_store/delete] is now available.
1195.086000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_mapping/src/RPSimpleMapServer.cpp:174(RPSimpleMapServer::setupRoadmap) [topics: /rosout, /message_store/insert, /kcl_rosplan/viz/waypoints] KCL: (RPSimpleMapServer) Loading roadmap from file
1195.113000000 INFO [mongodb_server.py:133(_mongo_loop) [topics: /clock, /rosout] 2018-03-22T01:08:38.519+0100 [initandlisten] connection accepted from 127.0.0.1:57784 #2 (2 connections now open)
1195.118000000 INFO [mongodb_server.py:133(_mongo_loop) [topics: /clock, /rosout] 2018-03-22T01:08:38.523+0100 [conn2] end connection 127.0.0.1:57784 (1 connection now open)
1195.113000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/src/costmap_2d_ros.cpp:122(Costmap2DROS::Costmap2DROS) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints] Using plugin "inflation_layer"
1195.120000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:534(main) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Ready to receive
1195.120000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:237(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding instance (waypoint, wp0)
1195.127000000 INFO [mongodb_server.py:133(_mongo_loop) [topics: /clock, /rosout] 2018-03-22T01:08:38.536+0100 [initandlisten] connection accepted from 127.0.0.1:57816 #3 (2 connections now open)
1195.134000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:237(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding instance (waypoint, wp1)
1195.135000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/RPActionInterface.cpp:100(RPActionInterface::runActionInterface) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) Ready to receive
1195.142000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:237(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding instance (waypoint, wp2)
1195.150000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:237(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding instance (waypoint, wp3)
1195.156000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:237(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding instance (waypoint, wp4)
1195.164000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:237(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding instance (waypoint, )
1195.164000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_mapping/src/RPSimpleMapServer.cpp:233(main) [topics: /rosout, /message_store/insert, /kcl_rosplan/viz/waypoints] KCL: (RPSimpleMapServer) Ready to receive.
1195.251000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/src/costmap_2d_ros.cpp:122(Costmap2DROS::Costmap2DROS) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan] Using plugin "obstacle_layer"
1195.257000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/plugins/obstacle_layer.cpp:76(ObstacleLayer::onInitialize) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan] Subscribed to Topics: scan bump
1195.364000000 INFO [/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.2/src/costmap_2d_ros.cpp:122(Costmap2DROS::Costmap2DROS) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints] Using plugin "inflation_layer"
1195.476000000 INFO [/tmp/binarydeb/ros-kinetic-move-base-1.14.2/src/move_base.cpp:131(MoveBase::MoveBase) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates] Created local_planner dwa_local_planner/DWAPlannerROS
1195.487000000 INFO [/tmp/binarydeb/ros-kinetic-dwa-local-planner-1.14.2/src/dwa_planner.cpp:147(DWAPlanner::DWAPlanner) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan] Sim period is set to 0.20
1196.081000000 INFO [/tmp/binarydeb/ros-kinetic-rviz-1.12.15/src/rviz/default_plugin/map_display.cpp:604(MapDisplay::createSwatches) [topics: /rosout, /initialpose, /move_base_simple/goal] Creating 1 swatches
1196.266000000 INFO [/tmp/binarydeb/ros-kinetic-clear-costmap-recovery-1.14.2/src/clear_costmap_recovery.cpp:68(ClearCostmapRecovery::initialize) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates] Recovery behavior will clear layer obstacles
1196.281000000 INFO [/tmp/binarydeb/ros-kinetic-clear-costmap-recovery-1.14.2/src/clear_costmap_recovery.cpp:68(ClearCostmapRecovery::initialize) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates] Recovery behavior will clear layer obstacles
1196.361000000 INFO [/tmp/binarydeb/ros-kinetic-base-local-planner-1.14.2/src/odometry_helper_ros.cpp:46(OdometryHelperRos::odomCallback) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] odom received!
1196.402000000 INFO [/tmp/binarydeb/ros-kinetic-rviz-1.12.15/src/rviz/default_plugin/map_display.cpp:604(MapDisplay::createSwatches) [topics: /rosout, /initialpose, /move_base_simple/goal] Creating 1 swatches
1205.030000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:237(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding instance (robot, kenny)
1205.543000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:259(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding domain attribute (robot_at v=kenny wp=wp0)
1207.007000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:301(KnowledgeBase::addMissionGoal) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding mission goal (visited wp=wp0)
1207.514000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:301(KnowledgeBase::addMissionGoal) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding mission goal (visited wp=wp1)
1208.014000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:301(KnowledgeBase::addMissionGoal) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding mission goal (visited wp=wp2)
1208.879000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:301(KnowledgeBase::addMissionGoal) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding mission goal (visited wp=wp3)
1209.378000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:301(KnowledgeBase::addMissionGoal) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding mission goal (visited wp=wp4)
1209.879000000 WARN [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:254(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Domain attribute (robot_at v=kenny wp=wp0) already exists
1210.394000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:35(PlanningEnvironment::parseDomain) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Parsing domain: /home/sunny/catkin_ws/src/ROSPlan/rosplan_demos/common/domain_turtlebot_demo.pddl.
1210.394000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:55(PlanningEnvironment::parseDomain) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) File does exist: /home/sunny/catkin_ws/src/ROSPlan/rosplan_demos/common/domain_turtlebot_demo.pddl.
1210.394000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:130(PlanningEnvironment::parseDomain) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Finished parsing domain: /home/sunny/catkin_ws/src/ROSPlan/rosplan_demos/common/domain_turtlebot_demo.pddl.
1210.394000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:194(PlanningEnvironment::update) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Fetching objects
1210.400000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:224(PlanningEnvironment::update) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Fetch attributes and functions
1210.414000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:259(PlanningEnvironment::update) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Fetch goals
1210.421000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:271(PlanningEnvironment::update) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Update complete
1210.421000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/ProblemGeneration/PDDLProblemGenerator.cpp:16(PDDLProblemGenerator::generatePDDLProblemFile) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Generating PDDL problem file /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/problem.pddl
1210.421000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:323(PlanningSystem::runPlanningServer) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) The problem was generated.
1210.421000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:417(PlanningSystem::runPlanner) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) Running: timeout 10 /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/bin/popf -n /home/sunny/catkin_ws/src/ROSPlan/rosplan_demos/common/domain_turtlebot_demo.pddl /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/problem.pddl > /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/plan.pddl
1212.179000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:419(PlanningSystem::runPlanner) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) Planning complete
1212.179000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanParsing/POPFEsterelPlanParser.cpp:212(POPFEsterelPlanParser::preparePlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (POPFEsterelPlanParser) Loading plan from file: /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/plan.pddl. Initial action ID: 0
1212.183000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanParsing/POPFEsterelPlanParser.cpp:308(POPFEsterelPlanParser::produceEsterel) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (POPFEsterelPlanParser) Write the esterel plan: /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/plan.strl
1212.183000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:149(PlanningSystem::publishFilter) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) Clean and update knowledge filter
1212.185000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:188(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Dispatching plan
1212.185000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:202(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Initialise the external conditions.
1212.185000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:307(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Dispatching action [0, goto_waypoint, 2.632094, 10.000000]
1213.134000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/RPActionInterface.cpp:116(RPActionInterface::dispatchCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action recieved
1213.140000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:41(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) waiting for move_base action server to start
1213.185000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [0, action enabled]
1213.345000000 INFO [/tmp/binarydeb/ros-kinetic-dwa-local-planner-1.14.2/src/dwa_planner_ros.cpp:139(DWAPlannerROS::setPlan) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Got new plan
1213.346000000 INFO [/tmp/binarydeb/ros-kinetic-dwa-local-planner-1.14.2/src/dwa_planner_ros.cpp:154(DWAPlannerROS::isGoalReached) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Goal reached
1213.346000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:54(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action finished: SUCCEEDED
1213.349000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:172(KnowledgeBase::removeKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Removing domain attribute (robot_at)
1213.352000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:259(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding domain attribute (robot_at v=kenny wp=wp0)
1213.353000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:259(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding domain attribute (visited wp=wp0)
1215.383000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [0, action achieved]
1215.483000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:321(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) 0: action goto_waypoint kenny wp0 wp0 completed
1215.584000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:307(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Dispatching action [1, goto_waypoint, 12.633095, 10.000000]
1216.353000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/RPActionInterface.cpp:116(RPActionInterface::dispatchCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action recieved
1216.358000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:41(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) waiting for move_base action server to start
1216.383000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [1, action enabled]
1216.560000000 INFO [/tmp/binarydeb/ros-kinetic-dwa-local-planner-1.14.2/src/dwa_planner_ros.cpp:139(DWAPlannerROS::setPlan) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Got new plan
1229.960000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:54(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action finished: SUCCEEDED
1229.959000000 INFO [/tmp/binarydeb/ros-kinetic-dwa-local-planner-1.14.2/src/dwa_planner_ros.cpp:154(DWAPlannerROS::isGoalReached) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Goal reached
1229.961000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:172(KnowledgeBase::removeKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Removing domain attribute (robot_at)
1229.963000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:259(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding domain attribute (robot_at v=kenny wp=wp1)
1229.967000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:259(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding domain attribute (visited wp=wp1)
1231.983000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [1, action achieved]
1232.083000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:321(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) 1: action goto_waypoint kenny wp0 wp1 completed
1232.184000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:307(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Dispatching action [2, goto_waypoint, 22.634095, 10.000000]
1232.967000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/RPActionInterface.cpp:116(RPActionInterface::dispatchCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action recieved
1232.972000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:41(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) waiting for move_base action server to start
1232.972000000 INFO [/tmp/binarydeb/ros-kinetic-dwa-local-planner-1.14.2/src/dwa_planner_ros.cpp:139(DWAPlannerROS::setPlan) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Got new plan
1232.983000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [2, action enabled]
1237.035000000 INFO [mongodb_server.py:133(_mongo_loop) [topics: /clock, /rosout] 2018-03-22T01:09:35.145+0100 [clientcursormon] mem (MB) res:42 virt:349
1237.036000000 INFO [mongodb_server.py:133(_mongo_loop) [topics: /clock, /rosout] 2018-03-22T01:09:35.145+0100 [clientcursormon] mapped (incl journal view):128
1237.036000000 INFO [mongodb_server.py:133(_mongo_loop) [topics: /clock, /rosout] 2018-03-22T01:09:35.145+0100 [clientcursormon] connections:2
1240.972000000 INFO [/tmp/binarydeb/ros-kinetic-dwa-local-planner-1.14.2/src/dwa_planner_ros.cpp:154(DWAPlannerROS::isGoalReached) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Goal reached
1240.972000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:54(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action finished: SUCCEEDED
1240.976000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:172(KnowledgeBase::removeKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Removing domain attribute (robot_at)
1240.977000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:259(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding domain attribute (robot_at v=kenny wp=wp2)
1240.980000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_knowledge_base/src/KnowledgeBase.cpp:259(KnowledgeBase::addKnowledge) [topics: /rosout, /kcl_rosplan/notification] KCL: (KB) Adding domain attribute (visited wp=wp2)
1242.983000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [2, action achieved]
1243.084000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:321(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) 2: action goto_waypoint kenny wp1 wp2 completed
1243.183000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:307(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Dispatching action [3, goto_waypoint, 32.635095, 10.000000]
1243.980000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/RPActionInterface.cpp:116(RPActionInterface::dispatchCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action recieved
1243.983000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [3, action enabled]
1243.986000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:41(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) waiting for move_base action server to start
1249.186000000 WARN [/tmp/binarydeb/ros-kinetic-clear-costmap-recovery-1.14.2/src/clear_costmap_recovery.cpp:90(ClearCostmapRecovery::runBehavior) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Clearing costmap to unstuck robot (3.000000m).
1254.593000000 WARN [/tmp/binarydeb/ros-kinetic-rotate-recovery-1.14.2/src/rotate_recovery.cpp:91(RotateRecovery::runBehavior) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Rotate recovery behavior started.
1261.327000000 WARN [/tmp/binarydeb/ros-kinetic-yocs-velocity-smoother-0.8.2/src/velocity_smoother_nodelet.cpp:138(VelocitySmoother::spin) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates, /cmd_vel_mux/input/navi, /mobile_base_nodelet_manager/bond, /cmd_vel_mux/input/safety_controller, /cmd_vel_mux/parameter_descriptions, /cmd_vel_mux/parameter_updates, /mobile_base/commands/velocity, /cmd_vel_mux/active, /mobile_base/sensors/bumper_pointcloud] Velocity Smoother : input got inactive leaving us a non-zero target velocity (0, 1), zeroing...[navigation_velocity_smoother]
1266.345000000 WARN [/tmp/binarydeb/ros-kinetic-clear-costmap-recovery-1.14.2/src/clear_costmap_recovery.cpp:90(ClearCostmapRecovery::runBehavior) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Clearing costmap to unstuck robot (1.840000m).
1271.545000000 WARN [/tmp/binarydeb/ros-kinetic-rotate-recovery-1.14.2/src/rotate_recovery.cpp:91(RotateRecovery::runBehavior) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Rotate recovery behavior started.
1278.277000000 WARN [/tmp/binarydeb/ros-kinetic-yocs-velocity-smoother-0.8.2/src/velocity_smoother_nodelet.cpp:138(VelocitySmoother::spin) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates, /cmd_vel_mux/input/navi, /mobile_base_nodelet_manager/bond, /cmd_vel_mux/input/safety_controller, /cmd_vel_mux/parameter_descriptions, /cmd_vel_mux/parameter_updates, /mobile_base/commands/velocity, /cmd_vel_mux/active, /mobile_base/sensors/bumper_pointcloud] Velocity Smoother : input got inactive leaving us a non-zero target velocity (0, 1), zeroing...[navigation_velocity_smoother]
1283.297000000 ERROR [/tmp/binarydeb/ros-kinetic-move-base-1.14.2/src/move_base.cpp:972(MoveBase::executeCycle) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates] Aborting because a valid plan could not be found. Even after executing all recovery behaviors
1283.298000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:54(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action finished: ABORTED
1283.383000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [3, action failed]
1283.483000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:351(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Replan requested
1283.483000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:374(PlanningSystem::runPlanningServer) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) The plan failed!
1283.483000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:194(PlanningEnvironment::update) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Fetching objects
1283.488000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:224(PlanningEnvironment::update) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Fetch attributes and functions
1283.500000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:259(PlanningEnvironment::update) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Fetch goals
1283.504000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningEnvironment.cpp:271(PlanningEnvironment::update) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Update complete
1283.504000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/ProblemGeneration/PDDLProblemGenerator.cpp:16(PDDLProblemGenerator::generatePDDLProblemFile) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) Generating PDDL problem file /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/problem.pddl
1283.504000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:323(PlanningSystem::runPlanningServer) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) The problem was generated.
1283.504000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:417(PlanningSystem::runPlanner) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) Running: timeout 10 /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/bin/popf -n /home/sunny/catkin_ws/src/ROSPlan/rosplan_demos/common/domain_turtlebot_demo.pddl /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/problem.pddl > /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/plan.pddl
1283.527000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:419(PlanningSystem::runPlanner) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) Planning complete
1283.528000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanParsing/POPFEsterelPlanParser.cpp:212(POPFEsterelPlanParser::preparePlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (POPFEsterelPlanParser) Loading plan from file: /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/plan.pddl. Initial action ID: 3
1283.535000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanParsing/POPFEsterelPlanParser.cpp:308(POPFEsterelPlanParser::produceEsterel) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (POPFEsterelPlanParser) Write the esterel plan: /home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/common/plan.strl
1283.535000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:149(PlanningSystem::publishFilter) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) Clean and update knowledge filter
1283.540000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:188(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Dispatching plan
1283.541000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:202(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Initialise the external conditions.
1283.541000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:307(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Dispatching action [3, goto_waypoint, 98.575158, 10.000000]
1284.359000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/RPActionInterface.cpp:116(RPActionInterface::dispatchCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action recieved
1284.366000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:41(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) waiting for move_base action server to start
1284.435000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [3, action enabled]
1284.569000000 INFO [/tmp/binarydeb/ros-kinetic-dwa-local-planner-1.14.2/src/dwa_planner_ros.cpp:139(DWAPlannerROS::setPlan) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates] Got new plan
1289.382000000 WARN [/tmp/binarydeb/ros-kinetic-dwa-local-planner-1.14.2/src/dwa_planner_ros.cpp:294(DWAPlannerROS::computeVelocityCommands) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates] DWA planner failed to produce path.
1294.767000000 WARN [/tmp/binarydeb/ros-kinetic-clear-costmap-recovery-1.14.2/src/clear_costmap_recovery.cpp:90(ClearCostmapRecovery::runBehavior) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates] Clearing costmap to unstuck robot (3.000000m).
1300.167000000 WARN [/tmp/binarydeb/ros-kinetic-rotate-recovery-1.14.2/src/rotate_recovery.cpp:91(RotateRecovery::runBehavior) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates] Rotate recovery behavior started.
1306.877000000 WARN [/tmp/binarydeb/ros-kinetic-yocs-velocity-smoother-0.8.2/src/velocity_smoother_nodelet.cpp:138(VelocitySmoother::spin) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates, /cmd_vel_mux/input/navi, /mobile_base_nodelet_manager/bond, /cmd_vel_mux/input/safety_controller, /cmd_vel_mux/parameter_descriptions, /cmd_vel_mux/parameter_updates, /mobile_base/commands/velocity, /cmd_vel_mux/active, /mobile_base/sensors/bumper_pointcloud] Velocity Smoother : input got inactive leaving us a non-zero target velocity (0, 1), zeroing...[navigation_velocity_smoother]
1311.918000000 WARN [/tmp/binarydeb/ros-kinetic-clear-costmap-recovery-1.14.2/src/clear_costmap_recovery.cpp:90(ClearCostmapRecovery::runBehavior) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates] Clearing costmap to unstuck robot (1.840000m).
1317.320000000 WARN [/tmp/binarydeb/ros-kinetic-rotate-recovery-1.14.2/src/rotate_recovery.cpp:91(RotateRecovery::runBehavior) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates] Rotate recovery behavior started.
1324.077000000 WARN [/tmp/binarydeb/ros-kinetic-yocs-velocity-smoother-0.8.2/src/velocity_smoother_nodelet.cpp:138(VelocitySmoother::spin) [topics: /rosout, /navigation_velocity_smoother/parameter_descriptions, /navigation_velocity_smoother/parameter_updates, /cmd_vel_mux/input/navi, /mobile_base_nodelet_manager/bond, /cmd_vel_mux/input/safety_controller, /cmd_vel_mux/parameter_descriptions, /cmd_vel_mux/parameter_updates, /mobile_base/commands/velocity, /cmd_vel_mux/active, /mobile_base/sensors/bumper_pointcloud] Velocity Smoother : input got inactive leaving us a non-zero target velocity (0, 1), zeroing...[navigation_velocity_smoother]
1329.070000000 ERROR [/tmp/binarydeb/ros-kinetic-move-base-1.14.2/src/move_base.cpp:972(MoveBase::executeCycle) [topics: /rosout, /navigation_velocity_smoother/raw_cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/obstacle_layer/parameter_descriptions, /move_base/global_costmap/obstacle_layer/parameter_updates, /move_base/global_costmap/obstacle_layer/clearing_endpoints, /move_base/global_costmap/inflation_layer/parameter_descriptions, /move_base/global_costmap/inflation_layer/parameter_updates, /move_base/global_costmap/footprint, /move_base/global_costmap/costmap, /move_base/global_costmap/costmap_updates, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/local_costmap/obstacle_layer/parameter_descriptions, /move_base/local_costmap/obstacle_layer/parameter_updates, /move_base/local_costmap/obstacle_layer/clearing_endpoints, /move_base/local_costmap/inflation_layer/parameter_descriptions, /move_base/local_costmap/inflation_layer/parameter_updates, /move_base/local_costmap/footprint, /move_base/local_costmap/costmap, /move_base/local_costmap/costmap_updates, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/DWAPlannerROS/global_plan, /move_base/DWAPlannerROS/local_plan, /move_base/DWAPlannerROS/cost_cloud, /move_base/DWAPlannerROS/trajectory_cloud, /move_base/DWAPlannerROS/parameter_descriptions, /move_base/DWAPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates, /move_base/global_costmap/static_layer/parameter_descriptions, /move_base/global_costmap/static_layer/parameter_updates] Aborting because a valid plan could not be found. Even after executing all recovery behaviors
1329.071000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_interface_movebase/src/RPMoveBase.cpp:54(RPMoveBase::concreteCallback) [topics: /rosout, /message_store/insert, /move_base/goal, /move_base/cancel, /kcl_rosplan/pddl_action_parameters, /kcl_rosplan/action_feedback] KCL: (goto_waypoint) action finished: ABORTED
1329.135000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:377(EsterelPlanDispatcher::feedbackCallback) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Feedback received [3, action failed]
1329.236000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanDispatch/EsterelPlanDispatcher.cpp:351(EsterelPlanDispatcher::dispatchPlan) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (EsterelPlanDispatcher) Replan requested
1329.236000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:374(PlanningSystem::runPlanningServer) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) The plan failed!
1329.236000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:379(PlanningSystem::runPlanningServer) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) Planning System Finished
1329.236000000 INFO [/home/sunny/catkin_ws/src/ROSPlan/rosplan_planning_system/src/PlanningSystem.cpp:382(PlanningSystem::runPlanningServer) [topics: /rosout, /kcl_rosplan/plan_graph, /kcl_rosplan/system_state, /kcl_rosplan/plan, /kcl_rosplan/problem, /kcl_rosplan/action_dispatch, /kcl_rosplan/action_feedback, /kcl_rosplan/start_planning/result, /kcl_rosplan/start_planning/feedback, /kcl_rosplan/start_planning/status, /kcl_rosplan/planning_filter] KCL: (PS) (problem.pddl) Maximum dispatch attempts (2) exceeded
1369.414000000 INFO [mongodb_server.py:153(_on_node_shutdown) [topics: /clock, /rosout] Shutting down datacentre
1369.449000000 INFO [/tmp/binarydeb/ros-kinetic-nodelet-1.9.14/src/nodelet.cpp:159(unloadNodelet) [topics: /rosout, /mobile_base_nodelet_manager/bond] Unloading nodelet /kobuki_safety_controller from manager mobile_base_nodelet_manager
1369.451000000 INFO [/tmp/binarydeb/ros-kinetic-nodelet-1.9.14/src/nodelet.cpp:159(unloadNodelet) [topics: /rosout, /mobile_base_nodelet_manager/bond] Unloading nodelet /navigation_velocity_smoother from manager mobile_base_nodelet_manager
1369.658000000 INFO [/tmp/binarydeb/ros-kinetic-nodelet-1.9.14/src/nodelet.cpp:159(unloadNodelet) [topics: /rosout, /laserscan_nodelet_manager/bond] Unloading nodelet /depthimage_to_laserscan from manager laserscan_nodelet_manager
1369.759000000 INFO [/tmp/binarydeb/ros-kinetic-nodelet-1.9.14/src/nodelet.cpp:159(unloadNodelet) [topics: /rosout, /mobile_base_nodelet_manager/bond] Unloading nodelet /bumper2pointcloud from manager mobile_base_nodelet_manager
1369.794000000 INFO [/tmp/binarydeb/ros-kinetic-nodelet-1.9.14/src/nodelet.cpp:159(unloadNodelet) [topics: /rosout, /mobile_base_nodelet_manager/bond] Unloading nodelet /cmd_vel_mux from manager mobile_base_nodelet_manager