[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.slam.CSLAMBuilder] [INFO] setRobotPose in (1.379812, 0.598445, -179.210818)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (1.379812, 0.598445, -179.210818)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (1.379812, 0.598445, -179.210818)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (1.379812, 0.598445, -179.210818)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (1.379812, 0.598445, -179.210818)
[rp.algorithm.slam.SDPSLAMBuilder] [INFO] {"category":"map.set","data":{"param":{"dimension":{"x":10,"y":10},"mapPose":{"x":1.299999952316284,"y":0.4000000059604645},"partially":true,"resolution":0.05000000074505806}},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663555323893732","usTick":"154016325845"}
[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":"673092","usEpoch":"1663555324566824","usTick":"154016998937"}
[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 56.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 32.
[rp.slamware.motionplan.algorithm.path_finding.CostMapBuilder#0] [INFO] cost map rebuild time:1198 ms, raw area:-297,-362,506,1255
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  1.58420-> 0.09000.
[rp.algorithm.motion.SensorMonitor] [INFO] isMoving
[rp.algorithm.motion.SensorMonitor] [INFO] StageCheckSensorStatus change to StageWakeUpSensor
[rp.algorithm.motion.SensorMonitor] [INFO] StageWakeUpSensor change to StageWaitStationayOrPureRotate, duration : 6 ms
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 10, status 10, reason 
[rp.slamware.system.BaseMonitorLogSupplier] [INFO] {"category":"base.status","data":{"isOnDock":false},"isCustomerLog":true,"usEpoch":"1663555328239379","usTick":"154020671491"}
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.50000-> 0.26520 omega:  0.00000-> 0.00000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.50000-> 0.50000 omega:  0.00000-> 0.00000.
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 11, status 10, reason 
[rp.algorithm.motion.SensorMonitor] [INFO] robot is isStationaryOrRotateStable(2017 ms).
[rp.algorithm.motion.SensorMonitor] [INFO] StageWaitStationayOrPureRotate change to StageHibernateSensor
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 3 ms
[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.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 60.
[rp.applet.server.RpSlamServer] [INFO] {"category":"client.tcp.connection","data":{"ip":"127.0.0.1","port":51282},"isCustomerLog":true,"keyword":"closed","usEpoch":"1663555430553659","usTick":"154122985772"}
