[rp.applet.server.RpSlamServer] [INFO] {"category":"client.tcp.connection","data":{"ip":"127.0.0.1","port":54304},"isCustomerLog":true,"keyword":"received","usEpoch":"1663401255334210","usTick":"85760257854"}
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homedock with id:d36cce36-da92-43da-9af5-670dbab2ee95
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homedock with id:ff23f0d4-1c38-43bb-8af3-67769b71c6fe
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homepose to existing dock:d36cce36-da92-43da-9af5-670dbab2ee95
[rp.algorithm.slam.CSLAMBuilder] [INFO] setRobotPose in (0.000000, 0.000000, -2.919560)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (0.000000, 0.000000, -2.919560)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (0.000000, 0.000000, -2.919560)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (0.000000, 0.000000, -2.919560)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (0.000000, 0.000000, -2.919560)
[rp.algorithm.slam.SDPSLAMBuilder] [INFO] {"category":"map.set","data":{"param":{"dimension":{"x":505,"y":1255},"mapPose":{"x":-2.224996328353882,"y":13.27500343322754},"partially":false,"resolution":0.05000000074505806}},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663401278870332","usTick":"85783793977"}
[rp.slamware.map.PoiService#0] [INFO] clear all pois
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-4.50000 y: 3.28000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-3.12000 y: 3.08000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-3.84000 y: 3.24000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-0.10000 y: 3.19000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-0.29000 y: 3.12000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-3.97000 y: 3.29000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 3.26000 y:11.11000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-2.28000 y: 3.15000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 3.58000 y:21.09000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 5.25000 y:-3.53000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-1.92000 y: 3.13000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 3.11000 y: 3.02000
[rp.algorithm.slam.CSLAMBuilder] [WARN] force to update map takes : 131 ms
[rp.slamware.server.SlamwareServerAgent] [INFO] set rectangle area map, id:30a6b53e-d2e9-4740-b499-b79e28f996fa, rectangle area count:2
[rp.slamware.motion.ElevatorAreaService#0] [INFO] clear all elevator areas
[rp.algorithm.slam.CSLAMBuilder] [INFO] transformHiddmapDataFromExploredMap
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 218.
[rp.algorithm.slam.CSLAMBuilder] [INFO] processObservation takes :592 ms
[rp.slamware.motionplan.algorithm.path_finding.CostMapBuilder#0] [INFO] cost map rebuild time:819 ms, raw area:-12,-80,204,210
[rp.algorithm.slam.CSLAMBuilder] [INFO] Switched to AMCL Mapping!
[rp.algorithm.slam.SDPSLAMBuilder] [INFO] {"category":"map.set","data":{"result":true},"isCustomerLog":true,"keyword":"end","usElapsed":"1978567","usEpoch":"1663401280848899","usTick":"85785772544"}
[rp.algorithm.slam.CSLAMBuilder] [INFO] setRobotPose in (1.534055, 0.429948, -179.133994)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (1.534055, 0.429948, -179.133994)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (1.534055, 0.429948, -179.133994)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (1.534055, 0.429948, -179.133994)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (1.534055, 0.429948, -179.133994)
[rp.algorithm.motion.RandomRelocalizationAction] [INFO] Receive Relocalization task!!!
[rp.algorithm.slam.CSLAMBuilder] [INFO] startRelocalization
[rp.algorithm.slam.RelocalizationService#0] [INFO] merge size :1
[rp.algorithm.slam.MonteCarlo] [INFO] resetParticle x min:-0.465945, x max:3.534055, y min:-1.570052, y max:2.429948, yaw min:-180.000000, yaw max:180.000000
[rp.algorithm.slam.MonteCarlo] [INFO] resetParticle x min:-0.465945, x max:3.534055, y min:-1.570052, y max:2.429948, yaw min:-180.000000, yaw max:180.000000
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 145, icpInfo.goodness = 0.275642, ICP takes: 39 ms
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 188, icpInfo.goodness = 0.454035, ICP takes: 20 ms
[rp.algorithm.slam.RelocalizationProxy] [INFO] parallel reloc takes: 682 ms
[rp.algorithm.slam.CSLAMBuilder] [INFO] processObservation takes :684 ms
[rp.algorithm.slam.RelocalizationService#0] [INFO] merge size :1
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 150, icpInfo.goodness = 0.288760, ICP takes: 45 ms
[rp.slamware.system.BaseMonitorLogSupplier] [INFO] {"category":"base.status","data":{"isCharging":false},"isCustomerLog":true,"usEpoch":"1663401281778850","usTick":"85786702495"}
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 207, icpInfo.goodness = 0.532183, ICP takes: 46 ms
[rp.algorithm.slam.RelocalizationProxy] [INFO] parallel reloc takes: 70 ms
[rp.algorithm.slam.RelocalizationService#0] [INFO] merge size :1
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 153, icpInfo.goodness = 0.269305, ICP takes: 27 ms
[rp.algorithm.slam.RelocalizationProxy] [INFO] Max convergence time is arrived, reset!!
[rp.algorithm.slam.MonteCarlo] [INFO] resetParticle x min:-0.465945, x max:3.534055, y min:-1.570052, y max:2.429948, yaw min:-180.000000, yaw max:180.000000
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 189, icpInfo.goodness = 0.606307, ICP takes: 31 ms
[rp.algorithm.slam.RelocalizationProxy] [WARN] Global relocalization Succeed, finalRobotPos x = 1.380453,  y =  0.610977, yaw = -3.073589, takes : 0.793000 s
[rp.algorithm.slam.RelocalizationProxy] [INFO] parallel reloc takes: 39 ms
[rp.algorithm.slam.RelocalizationProxy] [INFO] only proxy reloc success
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (1.380453, 0.610977, -176.103669)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (1.380453, 0.610977, -176.103669)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (1.380453, 0.610977, -176.103669)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (1.380453, 0.610977, -176.103669)
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 1, status 10, reason 
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 49.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 41.
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start rebuild virtual track assist map.
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] virtual track assist rebuilt (3686 us).
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 58.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 33.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 48.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 56.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 46.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 48.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 53.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 34.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 39.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 32.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 49.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 43.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 39.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 53.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 43.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 46.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 40.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 46.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 46.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 32.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 44.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 44.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 38.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 42.
[rp.slamware.motionplan.algorithm.path_finding.CostMapBuilder#0] [INFO] cost map rebuild time:2446 ms, raw area:-297,-362,506,1255
[rp.applet.slamsdp.CtrlBusBaseThread] [WARN] The base reported system poweroff signal , After a period of time will be power off.
[rp.applet.slamsdp.SLAMApplication] [INFO] System power off!
[rp.algorithm.slamsdp.RpStatisticsLoader] [INFO] check directory(/root)
[rp.algorithm.slamsdp.RpStatisticsLoader] [INFO] output statistics info to file(/root/statistics.info)
[rp.algorithm.slamsdp.RpStatisticsLoader] [INFO] output statistics info to file(/root/statistics.info.bk)
[rp.algorithm.slamsdp.RpMapLoader] [ERROR] Source directory /tmp/slamware_persistence does not exist or is not a directory.
[rp.applet.slamsdp.SLAMApplication] [ERROR] Copy persistence dir failed
[rp.applet.server.RpSlamServer] [INFO] {"category":"client.tcp.connection","data":{"ip":"127.0.0.1","port":54304},"isCustomerLog":true,"keyword":"closed","usEpoch":"1663401286772995","usTick":"85791696640"}
