[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 26 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066421829335","usTick":"16813409608"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066421830451","usTick":"16813410724"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"25545","usEpoch":"1663066421855996","usTick":"16813436269"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28138, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28137 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28137 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066421906671","usTick":"16813486944"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066421907201","usTick":"16813487474"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066421935695","usTick":"16813515968"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 30 ms, canceled when finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"103090","usEpoch":"1663066422010291","usTick":"16813590564"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28139, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"27018","usEpoch":"1663066422140286","usTick":"16813720558"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28141, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422158738","usTick":"16813739011"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422159017","usTick":"16813739290"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"5262","usEpoch":"1663066422164279","usTick":"16813744552"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28142, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422207136","usTick":"16813787410"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422207361","usTick":"16813787634"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066422232077","usTick":"16813812349"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2568
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 20 ms.
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"73285","usEpoch":"1663066422280646","usTick":"16813860919"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28143, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422295474","usTick":"16813875747"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422295734","usTick":"16813876007"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066422306150","usTick":"16813886422"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"15462","usEpoch":"1663066422311196","usTick":"16813891469"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28144, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422351722","usTick":"16813931995"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422351938","usTick":"16813932211"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10709","usEpoch":"1663066422362647","usTick":"16813942920"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28145, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422377027","usTick":"16813957300"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422377616","usTick":"16813957889"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066422399721","usTick":"16813979993"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"31440","usEpoch":"1663066422409056","usTick":"16813989329"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28146, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422430900","usTick":"16814011172"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422431503","usTick":"16814011775"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"13666","usEpoch":"1663066422445168","usTick":"16814025441"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28147, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422459351","usTick":"16814039624"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422459739","usTick":"16814040012"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"15509","usEpoch":"1663066422475248","usTick":"16814055521"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28148, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066422583875","usTick":"16814164148"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 6 ms, canceled when finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"53102","usEpoch":"1663066422618292","usTick":"16814198565"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28151, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422626659","usTick":"16814206932"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422626878","usTick":"16814207151"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28151 is under status error
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"19977","usEpoch":"1663066422646855","usTick":"16814227128"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28152, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422673359","usTick":"16814253632"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422673934","usTick":"16814254207"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"15008","usEpoch":"1663066422688942","usTick":"16814269215"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28153, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422711729","usTick":"16814292002"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422712139","usTick":"16814292412"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"18707","usEpoch":"1663066422730846","usTick":"16814311119"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28154, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422760985","usTick":"16814341259"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422763689","usTick":"16814343962"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066422784068","usTick":"16814364341"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"34050","usEpoch":"1663066422797739","usTick":"16814378012"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28155, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422824238","usTick":"16814404511"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422824870","usTick":"16814405144"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"8928","usEpoch":"1663066422833799","usTick":"16814414072"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28156, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422850738","usTick":"16814431011"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422851177","usTick":"16814431450"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"18001","usEpoch":"1663066422869178","usTick":"16814449451"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28157, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422884985","usTick":"16814465258"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422885188","usTick":"16814465461"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28158, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066422946454","usTick":"16814526727"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066422946693","usTick":"16814526966"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066422977274","usTick":"16814557547"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"52847","usEpoch":"1663066422999540","usTick":"16814579813"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28159, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423052592","usTick":"16814632864"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423053394","usTick":"16814633667"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066423098682","usTick":"16814678955"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"68680","usEpoch":"1663066423122074","usTick":"16814702347"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28160, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423166724","usTick":"16814746997"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423166905","usTick":"16814747179"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"24688","usEpoch":"1663066423191594","usTick":"16814771867"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28161, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423222395","usTick":"16814802667"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423222707","usTick":"16814802980"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"24277","usEpoch":"1663066423246984","usTick":"16814827257"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28162, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423291598","usTick":"16814871871"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423292130","usTick":"16814872403"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066423306819","usTick":"16814887091"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2562
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 14 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPathReady] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"137921","usEpoch":"1663066423430051","usTick":"16815010324"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28163, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423456775","usTick":"16815037047"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423457221","usTick":"16815037495"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066423506507","usTick":"16815086780"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2562
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 10 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.3250, -0.2417).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:1622
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching local path status: Successed, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 17 ms.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] filter path time cost:2698, path size before filter:78, after filter:78
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] utilize found local path, cost: 71::78 -6.00000.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitLocalPathReady] --> [RunningStageRotateToPathDirection].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageRotateToPathDirection] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"194123","usEpoch":"1663066423651346","usTick":"16815231618"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28164, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28164 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28164 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423667455","usTick":"16815247729"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423667970","usTick":"16815248243"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"5452","usEpoch":"1663066423673422","usTick":"16815253695"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28165, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423699193","usTick":"16815279466"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423702956","usTick":"16815283228"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"9646","usEpoch":"1663066423712601","usTick":"16815292874"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28166, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423726741","usTick":"16815307014"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423726912","usTick":"16815307185"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066423755072","usTick":"16815335345"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 10 ms, canceled when finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"84847","usEpoch":"1663066423811759","usTick":"16815392032"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28167, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423821823","usTick":"16815402096"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423822003","usTick":"16815402276"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 5 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066423963624","usTick":"16815543897"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066423963922","usTick":"16815544195"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"31472","usEpoch":"1663066423995394","usTick":"16815575667"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28169, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424039501","usTick":"16815619774"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424039733","usTick":"16815620006"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066424091175","usTick":"16815671448"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"77098","usEpoch":"1663066424116831","usTick":"16815697104"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28170, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 6 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424135035","usTick":"16815715308"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424135429","usTick":"16815715702"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066424193761","usTick":"16815774034"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"71495","usEpoch":"1663066424206924","usTick":"16815787197"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28171, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424221454","usTick":"16815801727"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424221936","usTick":"16815802209"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066424248992","usTick":"16815829264"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2574
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 21 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.3250, -0.2417).
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPathReady] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"176051","usEpoch":"1663066424397988","usTick":"16815978260"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28172, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 2 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424439517","usTick":"16816019789"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424439791","usTick":"16816020064"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7604","usEpoch":"1663066424447395","usTick":"16816027668"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28173, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424472796","usTick":"16816053069"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424474382","usTick":"16816054655"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066424497274","usTick":"16816077546"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"24270","usEpoch":"1663066424498652","usTick":"16816078925"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28174, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424508429","usTick":"16816088702"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424508755","usTick":"16816089028"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"13364","usEpoch":"1663066424522120","usTick":"16816102392"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28175, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424537779","usTick":"16816118052"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424537952","usTick":"16816118225"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"38071","usEpoch":"1663066424576023","usTick":"16816156296"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28176, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424589468","usTick":"16816169742"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424590934","usTick":"16816171207"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"11559","usEpoch":"1663066424602493","usTick":"16816182766"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28177, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424617916","usTick":"16816198189"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424618518","usTick":"16816198791"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"14936","usEpoch":"1663066424633454","usTick":"16816213727"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28178, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424673355","usTick":"16816253628"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424673700","usTick":"16816253973"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066424693624","usTick":"16816273897"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"28757","usEpoch":"1663066424702457","usTick":"16816282730"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28179, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424753873","usTick":"16816334146"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424754072","usTick":"16816334345"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066424792313","usTick":"16816372586"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"53467","usEpoch":"1663066424807539","usTick":"16816387812"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28180, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424858907","usTick":"16816439180"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424859224","usTick":"16816439497"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066424899454","usTick":"16816479727"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"51530","usEpoch":"1663066424910754","usTick":"16816491027"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28181, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066424935274","usTick":"16816515547"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066424935458","usTick":"16816515731"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066424995444","usTick":"16816575717"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"77601","usEpoch":"1663066425013059","usTick":"16816593332"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28182, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066425232060","usTick":"16816812333"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066425232412","usTick":"16816812685"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066425292887","usTick":"16816873160"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2568
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 13 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPathReady] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"171506","usEpoch":"1663066425403918","usTick":"16816984191"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28183, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066425456889","usTick":"16817037162"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066425457144","usTick":"16817037417"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"28272","usEpoch":"1663066425485416","usTick":"16817065689"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28184, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066425501171","usTick":"16817081444"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066425501338","usTick":"16817081611"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"15627","usEpoch":"1663066425516965","usTick":"16817097238"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28185, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066425533362","usTick":"16817113635"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066425533531","usTick":"16817113804"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"16872","usEpoch":"1663066425550403","usTick":"16817130676"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28186, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.3250, -0.2417).
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPathReady] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"176516","usEpoch":"1663066427096627","usTick":"16818676900"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28203, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 7 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28203 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066427172925","usTick":"16818753197"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066427173321","usTick":"16818753594"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066427199036","usTick":"16818779309"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 4 ms, canceled when finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"49362","usEpoch":"1663066427222683","usTick":"16818802956"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28204, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066427268237","usTick":"16818848509"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066427268648","usTick":"16818848922"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066427303041","usTick":"16818883314"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"50411","usEpoch":"1663066427319060","usTick":"16818899333"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28205, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066427395627","usTick":"16818975900"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066427395925","usTick":"16818976199"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066427422611","usTick":"16819002884"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"67515","usEpoch":"1663066427463441","usTick":"16819043714"}
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 20 ms, canceled when finding..
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28206, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066427501697","usTick":"16819081970"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066427502258","usTick":"16819082531"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066427525551","usTick":"16819105824"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"36042","usEpoch":"1663066427538299","usTick":"16819118573"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28207, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066427552541","usTick":"16819132815"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066427552737","usTick":"16819133010"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10593","usEpoch":"1663066427563330","usTick":"16819143603"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28208, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066427589695","usTick":"16819169968"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066427590051","usTick":"16819170324"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066427598662","usTick":"16819178935"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"20496","usEpoch":"1663066427610547","usTick":"16819190820"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28209, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066427619643","usTick":"16819199916"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066427620981","usTick":"16819201255"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"14471","usEpoch":"1663066427635453","usTick":"16819215726"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28210, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066427652477","usTick":"16819232750"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066427652652","usTick":"16819232925"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066427683625","usTick":"16819263898"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"35431","usEpoch":"1663066427688083","usTick":"16819268356"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28211, status -2, reason aborted
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28219, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066428556453","usTick":"16820136727"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066428556969","usTick":"16820137242"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066428579745","usTick":"16820160018"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"66270","usEpoch":"1663066428623239","usTick":"16820203512"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28220, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 17 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066428637992","usTick":"16820218265"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066428638199","usTick":"16820218472"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7396","usEpoch":"1663066428645595","usTick":"16820225868"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28221, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066428668446","usTick":"16820248718"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066428669180","usTick":"16820249453"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"17605","usEpoch":"1663066428686785","usTick":"16820267058"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28222, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066428704205","usTick":"16820284478"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066428704428","usTick":"16820284701"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10957","usEpoch":"1663066428715385","usTick":"16820295658"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28223, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066428732431","usTick":"16820312704"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066428732622","usTick":"16820312895"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"16427","usEpoch":"1663066428749049","usTick":"16820329322"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28224, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066428764853","usTick":"16820345126"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066428765033","usTick":"16820345306"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"22666","usEpoch":"1663066428787699","usTick":"16820367972"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28225, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066428799251","usTick":"16820379524"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066428799425","usTick":"16820379698"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"18424","usEpoch":"1663066428817849","usTick":"16820398122"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28226, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066428901118","usTick":"16820481391"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066428901501","usTick":"16820481774"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"22895","usEpoch":"1663066428924396","usTick":"16820504669"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28227, status -2, reason aborted
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066429378020","usTick":"16820958293"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"47115","usEpoch":"1663066429402409","usTick":"16820982682"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28232, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 13 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429529015","usTick":"16821109288"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429529698","usTick":"16821109971"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"15229","usEpoch":"1663066429544927","usTick":"16821125200"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28233, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429562548","usTick":"16821142820"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429563033","usTick":"16821143306"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066429579121","usTick":"16821159394"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"36864","usEpoch":"1663066429599897","usTick":"16821180170"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28234, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429624243","usTick":"16821204516"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429624449","usTick":"16821204722"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"9342","usEpoch":"1663066429633791","usTick":"16821214064"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28235, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429656052","usTick":"16821236325"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429657357","usTick":"16821237630"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7770","usEpoch":"1663066429665127","usTick":"16821245400"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28236, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429682185","usTick":"16821262458"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429682366","usTick":"16821262639"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066429695633","usTick":"16821275905"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"17346","usEpoch":"1663066429699712","usTick":"16821279985"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28237, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429719601","usTick":"16821299874"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429719795","usTick":"16821300068"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"21544","usEpoch":"1663066429741339","usTick":"16821321612"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28238, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429764227","usTick":"16821344500"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429764410","usTick":"16821344683"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"25615","usEpoch":"1663066429790025","usTick":"16821370298"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28239, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429839840","usTick":"16821420113"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429840026","usTick":"16821420299"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"22120","usEpoch":"1663066429862146","usTick":"16821442419"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28240, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429868555","usTick":"16821448829"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429868933","usTick":"16821449206"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066429900719","usTick":"16821480992"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 1 ms, canceled when finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"69691","usEpoch":"1663066429938623","usTick":"16821518897"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28241, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066429966065","usTick":"16821546339"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066429966279","usTick":"16821546552"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066429994757","usTick":"16821575030"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"78319","usEpoch":"1663066430044598","usTick":"16821624871"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28242, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 32 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066430068013","usTick":"16821648286"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066430068223","usTick":"16821648496"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"4959","usEpoch":"1663066430073181","usTick":"16821653455"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28243, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066430097106","usTick":"16821677379"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066430098229","usTick":"16821678502"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"9510","usEpoch":"1663066430107739","usTick":"16821688012"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28244, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066430136940","usTick":"16821717213"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066430137145","usTick":"16821717418"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10448","usEpoch":"1663066430147593","usTick":"16821727866"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28245, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066430162318","usTick":"16821742591"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066430162488","usTick":"16821742761"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066430174598","usTick":"16821754871"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"24872","usEpoch":"1663066430187360","usTick":"16821767633"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28246, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066430198005","usTick":"16821778277"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066430198427","usTick":"16821778700"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066430228158","usTick":"16821808431"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"45718","usEpoch":"1663066430244145","usTick":"16821824418"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28247, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066430363697","usTick":"16821943970"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066430364195","usTick":"16821944468"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066431624335","usTick":"16823204608"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"30809","usEpoch":"1663066431627074","usTick":"16823207347"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28263, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066431659882","usTick":"16823240155"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066431660212","usTick":"16823240485"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"14615","usEpoch":"1663066431674827","usTick":"16823255100"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28264, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066431691233","usTick":"16823271506"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066431691445","usTick":"16823271719"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"13329","usEpoch":"1663066431704775","usTick":"16823285048"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28265, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066431738448","usTick":"16823318721"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066431738675","usTick":"16823318948"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"6717","usEpoch":"1663066431745392","usTick":"16823325665"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28266, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066431760725","usTick":"16823340998"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066431762212","usTick":"16823342485"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"14986","usEpoch":"1663066431777198","usTick":"16823357471"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28267, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28263 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066431797895","usTick":"16823378168"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066431798103","usTick":"16823378377"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"18771","usEpoch":"1663066431816874","usTick":"16823397148"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28268, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066431830078","usTick":"16823410351"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066431830354","usTick":"16823410627"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"21109","usEpoch":"1663066431851463","usTick":"16823431736"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28269, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066431904347","usTick":"16823484620"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066431904631","usTick":"16823484904"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066431935976","usTick":"16823516249"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2562
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 9 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPathReady] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"104917","usEpoch":"1663066432009548","usTick":"16823589821"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28270, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432077679","usTick":"16823657952"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432077940","usTick":"16823658213"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066432104210","usTick":"16823684483"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2568
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 6 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"71129","usEpoch":"1663066432149069","usTick":"16823729342"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28271, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432227858","usTick":"16823808131"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432228413","usTick":"16823808686"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066432253887","usTick":"16823834159"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2574
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 11 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPathReady] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"121912","usEpoch":"1663066432350325","usTick":"16823930598"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28272, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432424555","usTick":"16824004828"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432424822","usTick":"16824005095"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066432486612","usTick":"16824066885"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"108611","usEpoch":"1663066432533433","usTick":"16824113706"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28273, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 6 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432601028","usTick":"16824181301"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432602082","usTick":"16824182355"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066432626717","usTick":"16824206989"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"29575","usEpoch":"1663066432631657","usTick":"16824211930"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28274, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432650018","usTick":"16824230291"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432650316","usTick":"16824230589"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"25946","usEpoch":"1663066432676262","usTick":"16824256535"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28275, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432693797","usTick":"16824274070"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432694485","usTick":"16824274758"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10483","usEpoch":"1663066432704969","usTick":"16824285241"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28276, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432724370","usTick":"16824304643"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432724897","usTick":"16824305170"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"24516","usEpoch":"1663066432749413","usTick":"16824329686"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28277, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432767392","usTick":"16824347665"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432767558","usTick":"16824347831"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"9014","usEpoch":"1663066432776571","usTick":"16824356845"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28278, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432792374","usTick":"16824372647"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432793344","usTick":"16824373617"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"17492","usEpoch":"1663066432810836","usTick":"16824391109"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28279, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066432824706","usTick":"16824404979"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066432824938","usTick":"16824405211"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066433029252","usTick":"16824609525"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 29 ms, canceled when finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"85971","usEpoch":"1663066433092754","usTick":"16824673027"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28281, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433119121","usTick":"16824699394"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433119378","usTick":"16824699652"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066433145691","usTick":"16824725964"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"79392","usEpoch":"1663066433198771","usTick":"16824779044"}
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 34 ms, canceled when finding..
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28282, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433212976","usTick":"16824793248"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433213363","usTick":"16824793636"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066433241310","usTick":"16824821582"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2576
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 13 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"103100","usEpoch":"1663066433316463","usTick":"16824896736"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28283, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433366711","usTick":"16824946984"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433366922","usTick":"16824947195"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066433390598","usTick":"16824970870"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"37508","usEpoch":"1663066433404430","usTick":"16824984703"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28284, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433424682","usTick":"16825004955"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433425003","usTick":"16825005277"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10704","usEpoch":"1663066433435708","usTick":"16825015981"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28285, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433500226","usTick":"16825080499"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433500430","usTick":"16825080703"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066433529290","usTick":"16825109563"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"29686","usEpoch":"1663066433530116","usTick":"16825110389"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28286, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433535539","usTick":"16825115812"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433535777","usTick":"16825116050"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066433585515","usTick":"16825165788"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"73161","usEpoch":"1663066433608938","usTick":"16825189211"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28287, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433616644","usTick":"16825196916"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433616854","usTick":"16825197127"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066433644060","usTick":"16825224333"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"36136","usEpoch":"1663066433652990","usTick":"16825233263"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28288, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433666368","usTick":"16825246641"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433667627","usTick":"16825247900"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066433698698","usTick":"16825278971"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"34139","usEpoch":"1663066433701766","usTick":"16825282039"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28289, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433717815","usTick":"16825298088"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433718355","usTick":"16825298628"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"20041","usEpoch":"1663066433738396","usTick":"16825318669"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28290, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433746697","usTick":"16825326970"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433747201","usTick":"16825327474"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066433771111","usTick":"16825351384"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"28923","usEpoch":"1663066433776124","usTick":"16825356397"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28291, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433782695","usTick":"16825362968"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433782862","usTick":"16825363135"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"23267","usEpoch":"1663066433806129","usTick":"16825386402"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28292, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433819367","usTick":"16825399640"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433819547","usTick":"16825399820"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"19152","usEpoch":"1663066433838699","usTick":"16825418972"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28293, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433853955","usTick":"16825434228"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433854438","usTick":"16825434711"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"22275","usEpoch":"1663066433876713","usTick":"16825456986"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28294, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433921136","usTick":"16825501409"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433921329","usTick":"16825501602"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"27792","usEpoch":"1663066433949121","usTick":"16825529394"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28295, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066433992256","usTick":"16825572529"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066433992523","usTick":"16825572796"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066434016982","usTick":"16825597255"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2568
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 22 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageUpdateLocalPath] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"109074","usEpoch":"1663066434101597","usTick":"16825681870"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28296, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066434127854","usTick":"16825708127"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066434128215","usTick":"16825708488"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"16735","usEpoch":"1663066434144949","usTick":"16825725223"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28297, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066434220597","usTick":"16825800870"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066434221843","usTick":"16825802116"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066434283414","usTick":"16825863687"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"62519","usEpoch":"1663066434284362","usTick":"16825864635"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28298, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066434715580","usTick":"16826295852"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"44833","usEpoch":"1663066434731417","usTick":"16826311690"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28301, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066434760480","usTick":"16826340753"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066434760682","usTick":"16826340955"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10558","usEpoch":"1663066434771240","usTick":"16826351513"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28302, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066434801192","usTick":"16826381465"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066434801671","usTick":"16826381944"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"11374","usEpoch":"1663066434813045","usTick":"16826393318"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28303, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066434838258","usTick":"16826418531"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066434838570","usTick":"16826418843"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"14134","usEpoch":"1663066434852704","usTick":"16826432977"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28304, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066434892795","usTick":"16826473068"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066434893356","usTick":"16826473629"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"22661","usEpoch":"1663066434916017","usTick":"16826496290"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28305, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066434923648","usTick":"16826503921"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066434924544","usTick":"16826504817"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"19248","usEpoch":"1663066434943792","usTick":"16826524065"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28306, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066435009599","usTick":"16826589871"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066435009959","usTick":"16826590232"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066435034403","usTick":"16826614676"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2568
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 13 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.3250, -0.2417).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:1610
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching local path status: Successed, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 11 ms.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] filter path time cost:1217, path size before filter:78, after filter:78
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] utilize found local path, cost: 71::78 -6.00000.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitLocalPathReady] --> [RunningStageRotateToPathDirection].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] yaw diff :  0.02550:: 1.33306 ->  1.30756.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageRotateToPathDirection] --> [RunningStageWaitRotate].
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.36000-> 0.00240 omega: -0.02931->-0.01800.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageRequestLocalPlan] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"207063","usEpoch":"1663066435217022","usTick":"16826797295"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28307, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066435307672","usTick":"16826887945"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066435308149","usTick":"16826888422"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066435335729","usTick":"16826916002"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2572
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 21 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageUpdateLocalPath] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"124844","usEpoch":"1663066435432993","usTick":"16827013266"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28308, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066435454213","usTick":"16827034486"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066435454617","usTick":"16827034891"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066435497456","usTick":"16827077729"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2568
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 9 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.3250, -0.2417).
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPathReady] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"233137","usEpoch":"1663066435687755","usTick":"16827268028"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28309, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 28 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066435723889","usTick":"16827304162"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066435724079","usTick":"16827304352"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"26304","usEpoch":"1663066435750383","usTick":"16827330656"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28310, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066435759316","usTick":"16827339590"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066435760030","usTick":"16827340303"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066435796690","usTick":"16827376963"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"44534","usEpoch":"1663066435804564","usTick":"16827384837"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28311, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28309 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066435820127","usTick":"16827400400"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066435820862","usTick":"16827401135"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"16811","usEpoch":"1663066435837673","usTick":"16827417946"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28312, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066435846045","usTick":"16827426318"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066435846424","usTick":"16827426697"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"23962","usEpoch":"1663066435870386","usTick":"16827450659"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28313, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066435880517","usTick":"16827460790"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066435880700","usTick":"16827460974"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066435891281","usTick":"16827471553"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"16512","usEpoch":"1663066435897213","usTick":"16827477486"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28314, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066437095786","usTick":"16828676059"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"42859","usEpoch":"1663066437100582","usTick":"16828680854"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28330, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437107941","usTick":"16828688214"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437108144","usTick":"16828688417"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066437140036","usTick":"16828720308"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"54146","usEpoch":"1663066437162290","usTick":"16828742563"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28331, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28331 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437195903","usTick":"16828776176"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437196103","usTick":"16828776376"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"17301","usEpoch":"1663066437213404","usTick":"16828793677"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28332, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437240449","usTick":"16828820722"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437240680","usTick":"16828820953"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"9147","usEpoch":"1663066437249827","usTick":"16828830100"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28333, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437265851","usTick":"16828846124"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437266034","usTick":"16828846307"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"17105","usEpoch":"1663066437283139","usTick":"16828863412"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28334, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437318310","usTick":"16828898582"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437318652","usTick":"16828898925"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"13622","usEpoch":"1663066437332274","usTick":"16828912547"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28335, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437340911","usTick":"16828921184"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437341104","usTick":"16828921377"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066437388224","usTick":"16828968497"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"59686","usEpoch":"1663066437400790","usTick":"16828981063"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28336, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437481344","usTick":"16829061617"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437482196","usTick":"16829062469"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066437507994","usTick":"16829088267"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"41220","usEpoch":"1663066437523415","usTick":"16829103689"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28337, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437549583","usTick":"16829129856"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437549940","usTick":"16829130213"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066437593012","usTick":"16829173285"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 4 ms, canceled when finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"79608","usEpoch":"1663066437629548","usTick":"16829209821"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28338, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437755846","usTick":"16829336118"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437756467","usTick":"16829336741"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066437775000","usTick":"16829355270"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"29342","usEpoch":"1663066437785810","usTick":"16829366083"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28339, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437826084","usTick":"16829406357"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437826457","usTick":"16829406730"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"42819","usEpoch":"1663066437869276","usTick":"16829449549"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28340, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437876779","usTick":"16829457053"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437877628","usTick":"16829457901"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066437892382","usTick":"16829472655"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"23708","usEpoch":"1663066437901336","usTick":"16829481609"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28341, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437917847","usTick":"16829498120"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437918022","usTick":"16829498295"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066437943542","usTick":"16829523815"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"25948","usEpoch":"1663066437943970","usTick":"16829524243"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28342, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437948958","usTick":"16829529231"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437949617","usTick":"16829529890"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"16222","usEpoch":"1663066437965838","usTick":"16829546112"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28343, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066437983234","usTick":"16829563507"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066437983688","usTick":"16829563961"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"17028","usEpoch":"1663066438000716","usTick":"16829580989"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28344, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438022772","usTick":"16829603045"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438022972","usTick":"16829603245"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"16454","usEpoch":"1663066438039426","usTick":"16829619699"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28345, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438129652","usTick":"16829709925"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438129840","usTick":"16829710113"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066438183969","usTick":"16829764242"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2574
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 10 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"100250","usEpoch":"1663066438230089","usTick":"16829810363"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28346, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28345 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438306348","usTick":"16829886621"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438306657","usTick":"16829886930"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066438335096","usTick":"16829915367"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 6 ms, canceled when finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"52141","usEpoch":"1663066438358798","usTick":"16829939071"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28347, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438417110","usTick":"16829997382"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438417588","usTick":"16829997861"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066438440427","usTick":"16830020700"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"23455","usEpoch":"1663066438441044","usTick":"16830021316"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28348, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438447821","usTick":"16830028093"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438448263","usTick":"16830028536"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066438488117","usTick":"16830068390"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2568
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 9 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.3250, -0.2417).
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPathReady] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"177995","usEpoch":"1663066438626258","usTick":"16830206531"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28349, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 12 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438635333","usTick":"16830215605"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438635665","usTick":"16830215938"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"44728","usEpoch":"1663066438680393","usTick":"16830260666"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28350, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438694970","usTick":"16830275243"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438695379","usTick":"16830275652"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066438720890","usTick":"16830301162"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2568
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 19 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 84, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.675000) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.3250, -0.2417).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:1610
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPathReady] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"135584","usEpoch":"1663066438830963","usTick":"16830411236"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28351, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching local path status: Canceled, Basic, (-1.37127, -2.65985) to (-2.325, -0.241667), used 12 ms, canceled when filtering path..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438899379","usTick":"16830479652"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438899736","usTick":"16830480009"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"5784","usEpoch":"1663066438905520","usTick":"16830485793"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28352, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438933311","usTick":"16830513583"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438933826","usTick":"16830514099"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10509","usEpoch":"1663066438944336","usTick":"16830524608"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28353, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066438997836","usTick":"16830578109"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066438998155","usTick":"16830578428"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"24121","usEpoch":"1663066439022276","usTick":"16830602549"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28354, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066439078797","usTick":"16830659070"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066439080324","usTick":"16830660597"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"15618","usEpoch":"1663066439095942","usTick":"16830676215"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28355, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066439109554","usTick":"16830689827"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066439109734","usTick":"16830690007"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066439133741","usTick":"16830714014"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"36746","usEpoch":"1663066439146480","usTick":"16830726753"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28356, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066439225076","usTick":"16830805349"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066439225287","usTick":"16830805560"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066439279701","usTick":"16830859974"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"106616","usEpoch":"1663066439331903","usTick":"16830912176"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28357, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 12 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066439339229","usTick":"16830919502"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066439339410","usTick":"16830919683"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066439386263","usTick":"16830966537"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"59179","usEpoch":"1663066439398589","usTick":"16830978862"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28358, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066439414279","usTick":"16830994552"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066439414512","usTick":"16830994785"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"VirtualTrack","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066439442590","usTick":"16831022863"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.8200, -0.6200).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"73339","usEpoch":"1663066439487851","usTick":"16831068124"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28359, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-1.37127, -2.65985) to (-2.82, -0.62), used 6 ms, canceled when finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066439523222","usTick":"16831103495"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066439523436","usTick":"16831103709"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"flags":["milestone","precise"],"mode":0},"points":[[-2.789999961853027,-0.5099999904632568]]}},"isCustomerLog":true,"usEpoch":"1663066439541678","usTick":"16831121951"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"18353","usEpoch":"1663066439541789","usTick":"16831122062"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28360, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.790000, -0.510000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"Basic"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066439541917","usTick":"16831122190"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28360 is under status error
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.790000, -0.510000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.371274471282959,"y":-2.659854888916016},"moveType":"Basic","robotPose":{"x":-1.371274424388090,"y":-2.659854784029398,"yaw":1.307559525539643},"to":{"x":-2.789999961853027,"y":-0.5099999904632568}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066439564957","usTick":"16831145230"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.7900, -0.5100).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2076
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, Basic, (-1.37127, -2.65985) to (-2.79, -0.51), used 13 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 75, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.658333) --> (-2.790000, -0.510000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.790000, y = -0.510000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3713, -2.6599) to (-2.2980, -0.1308).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:1528
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching local path status: Successed, Basic, (-1.37127, -2.65985) to (-2.29799, -0.13077), used 14 ms.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitLocalPathReady] --> [RunningStageRotateToPathDirection].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] yaw diff :  0.02550:: 1.33306 ->  1.30756.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageRotateToPathDirection] --> [RunningStageWaitRotate].
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.36000-> 0.00840 omega: -0.02931->-0.02931.
[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 : 7 ms
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"flags":["milestone","precise"],"mode":0},"points":[[-2.789999961853027,-0.5099999904632568]]}},"isCustomerLog":true,"usEpoch":"1663066440435603","usTick":"16832015876"}
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitLocalPlanResult] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"894981","usEpoch":"1663066440436898","usTick":"16832017171"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28361, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.790000, -0.510000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"Basic"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066440437882","usTick":"16832018155"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.790000, -0.510000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-1.359934449195862,"y":-2.619856119155884},"moveType":"Basic","robotPose":{"x":-1.359934456597950,"y":-2.619856027229393,"yaw":1.291380322888448},"to":{"x":-2.789999961853027,"y":-0.5099999904632568}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066440464999","usTick":"16832045272"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-1.3599, -2.6199) to (-2.7900, -0.5100).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2072
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, Basic, (-1.35993, -2.61986) to (-2.79, -0.51), used 29 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 74, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-1.375000, -2.608333) --> (-2.790000, -0.510000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageRotateToPathDirection] --> [RunningStageWaitRotate].
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.41893-> 0.01520 omega: -0.02931->-0.02931.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.53145-> 0.21560 omega:  0.00000-> 0.00000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.55985-> 0.42360 omega:  0.14655-> 0.10293.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.61657-> 0.61657 omega:  0.50745-> 0.50745.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.61913-> 0.61776 omega:  0.32241-> 0.32241.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.64316-> 0.64316 omega:  0.39767-> 0.46709.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.62632-> 0.62632 omega:  0.85000-> 0.85000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.27309-> 0.27309 omega:  0.48525-> 0.48525.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.10285-> 0.10285 omega: -0.14655->-0.13755.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] precise move end!, milestone is (-2.7900, -0.5100, 0.0000), pose is (-2.7704, -0.4921, -2.4872), error is (0.0265,142.5036)
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStagePreciseMove] --> [RunningStageUnknown].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onPreSensorData: [RunningStagePreciseMove] --> [RunningStageUnknown].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] milestones is arrived, finish.
[rp.algorithm.motion.NavigationScheduleAction] [INFO] all milestone is arrived, markAsFinished
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":10},"isCustomerLog":true,"keyword":"end","usElapsed":"9254514","usEpoch":"1663066449692396","usTick":"16841272669"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28362, status 10, reason 
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 7 ms
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066454494486","usTick":"16846074759"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066454494874","usTick":"16846075147"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.773287773132324,"y":-0.4942735433578491},"moveType":"VirtualTrack","robotPose":{"x":-2.773287791933709,"y":-0.4942735577149755,"yaw":-2.464863479485812},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066454523715","usTick":"16846103987"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.7733, -0.4943) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:29
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.77329, -0.494274) to (-2.82, -0.62), used 0 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 5, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.775000, -0.491667) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.7733, -0.4943) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:26
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching local path status: Successed, Basic, (-2.77329, -0.494274) to (-2.82, -0.62), used 0 ms.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitLocalPathReady] --> [RunningStageRotateToPathDirection].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] yaw diff :  0.53834::-1.92653 -> -2.46486.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageRotateToPathDirection] --> [RunningStageWaitRotate].
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.00600-> 0.00600.
[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.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.00000-> 0.25018.
[rp.algorithm.motion.SensorMonitor] [INFO] robot is isStationaryOrRotateStable(2001 ms).
[rp.algorithm.motion.SensorMonitor] [INFO] StageWaitStationayOrPureRotate change to StageHibernateSensor
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 7 ms
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066471235217","usTick":"16862815490"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066471235496","usTick":"16862815770"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.795253038406372,"y":-0.5406395792961121},"moveType":"VirtualTrack","robotPose":{"x":-2.795252932995432,"y":-0.5406396069984299,"yaw":-2.029699819648437},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066471263676","usTick":"16862843949"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.7953, -0.5406) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:11
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.79525, -0.54064) to (-2.82, -0.62), used 0 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 4, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.775000, -0.541667) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] the milestone[-2.8200, -0.6200] is non precise arrived, robot pose[-2.7953, -0.5406] norm: 0.0831.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUnknown].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onReturnFromChild: [MoveByWayPoints] --> [AdjustYaw].
[rp.algorithm.motion.AdjustYawAction] [INFO] onStart, required yaw : 0.050000, timeout : 60000
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.80000-> 0.00900.
[rp.algorithm.motion.SensorMonitor] [INFO] StageWakeUpSensor change to StageWaitStationayOrPureRotate, duration : 6 ms
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.80000-> 0.80000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.80000-> 0.80000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.17453-> 0.17453.
[rp.algorithm.motion.AdjustYawAction] [INFO] StageRotate -> StageRecheck
[rp.algorithm.motion.AdjustYawAction] [INFO] adjust yaw success. yaw:  0.05000 -> -0.04726
[rp.algorithm.motion.AdjustYawAction] [INFO] onStop
[rp.algorithm.motion.NavigationScheduleAction] [INFO] all milestone is arrived, markAsFinished
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":10},"isCustomerLog":true,"keyword":"end","usElapsed":"4118345","usEpoch":"1663066475353842","usTick":"16866934115"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28364, status 10, reason 
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.00000-> 0.12953.
[rp.applet.slamsdp.SDPController] [WARN] grab scan is not valid continue next loop !!!
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 6 ms
[rp.algorithm.motion.SensorMonitor] [INFO] StageWakeUpSensor change to StageWaitStationayOrPureRotate, duration : 5 ms
[rp.slamware.system.HealthUpdatingService#0] [WARN] BaseDriverHealthProvider reported health status: 0x2010700::motor brake released
[rp.slamware.system.BaseMonitorLogSupplier] [INFO] {"category":"base.status","data":{"isCharging":true,"isOnDock":true},"isCustomerLog":true,"usEpoch":"1663066619235177","usTick":"17010815449"}
[rp.slamware.motion.ElevatorAreaService#0] [INFO] clear all elevator areas
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 110.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 110.
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.623331, 6.254166, 0.773916)
[rp.algorithm.motion.SensorMonitor] [INFO] robot is isStationaryOrRotateStable(2006 ms).
[rp.algorithm.motion.SensorMonitor] [INFO] StageWaitStationayOrPureRotate change to StageHibernateSensor
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 6 ms
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 42.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 33.
[rp.slamware.motionplan.algorithm.path_finding.CostMapBuilder#0] [INFO] cost map rebuild time:704 ms, raw area:-204,-160,266,391
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homedock with id:b97b25ef-20e3-4cf4-ad0a-52bfee32a393
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homedock with id:f7454deb-1d07-4f98-a219-df6034d2cc9f
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homepose to existing dock:b97b25ef-20e3-4cf4-ad0a-52bfee32a393
[rp.algorithm.slam.CSLAMBuilder] [INFO] setRobotPose in (-3.623267, 6.254166, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.623267, 6.254166, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.623267, 6.254166, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.623267, 6.254166, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.623267, 6.254166, 0.773916)
[rp.algorithm.slam.SDPSLAMBuilder] [INFO] {"category":"map.set","data":{"param":{"dimension":{"x":388,"y":514},"mapPose":{"x":-2.049996137619019,"y":1.350003957748413},"partially":false,"resolution":0.05000000074505806}},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066643343997","usTick":"17034924269"}
[rp.slamware.map.PoiService#0] [INFO] clear all pois
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-1.51000 y:-1.05000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-1.34000 y:-4.90000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 0.86000 y:-4.17000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-1.88000 y: 0.50000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-1.47000 y:-5.35000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-2.82000 y:-0.62000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 1.14000 y:-1.97000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 0.98000 y:-3.80000
[rp.slamware.server.SlamwareServerAgent] [INFO] set rectangle area map, id:791dedc9-bb32-48f5-bef3-7720a224428d, rectangle area count:8
[rp.slamware.motion.ElevatorAreaService#0] [INFO] clear all elevator areas
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 283.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 47.
[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":"1567275","usEpoch":"1663066644911272","usTick":"17036491544"}
[rp.algorithm.slam.CSLAMBuilder] [INFO] setRobotPose in (-3.933293, 3.348628, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.933293, 3.348628, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.933293, 3.348628, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.933293, 3.348628, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.933293, 3.348628, 0.773916)
[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:-5.933293, x max:-1.933293, y min:1.348628, y max:5.348628, yaw min:-180.000000, yaw max:180.000000
[rp.algorithm.slam.MonteCarlo] [INFO] resetParticle x min:-5.933293, x max:-1.933293, y min:1.348628, y max:5.348628, yaw min:-180.000000, yaw max:180.000000
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homedock with id:b97b25ef-20e3-4cf4-ad0a-52bfee32a393
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homedock with id:f7454deb-1d07-4f98-a219-df6034d2cc9f
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homepose to existing dock:b97b25ef-20e3-4cf4-ad0a-52bfee32a393
[rp.slamware.server.SlamwareServerAgent] [WARN] Relocalizationing, please wait for a moment
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [INFO] depth frame timeout, current: 17037391, gap: 222.
[rp.slamware.system.HealthUpdatingService#0] [WARN] LocalCostMapHealthProvider reported health status: 0x1040A00::depth camera disconnect
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [INFO] depth frame timeout, current: 17037417, gap: 248.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [INFO] depth frame timeout, current: 17037443, gap: 274.
[rp.slamware.system.HealthUpdatingService#0] [WARN] LocalCostMapHealthProvider reported health status: 0x1040A00::depth camera disconnect
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 169, icpInfo.goodness = 0.681730, ICP takes: 69 ms
[rp.algorithm.slam.RelocalizationProxy] [WARN] Global relocalization Succeed, finalRobotPos x = -3.712907,  y =  3.483383, yaw = 0.012210, takes : 1.211000 s
[rp.algorithm.slam.RelocalizationService#0] [INFO] pose : (-3.712907, 3.483383, 0.012210)
[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 (4167 us).
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 238, icpInfo.goodness = 0.635363, ICP takes: 79 ms
[rp.algorithm.slam.RelocalizationProxy] [WARN] Global relocalization Succeed, finalRobotPos x = -3.739183,  y =  3.524108, yaw = 0.007758, takes : 1.560000 s
[rp.algorithm.slam.RelocalizationProxy] [INFO] parallel reloc takes: 1567 ms
[rp.algorithm.slam.RelocalizationProxy] [INFO] both reloc success
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.739183, 3.524108, 0.444496)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.739183, 3.524108, 0.444496)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.739183, 3.524108, 0.444496)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.739183, 3.524108, 0.444496)
[rp.algorithm.slam.CSLAMBuilder] [INFO] processObservation takes :1569 ms
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28365, status 10, reason 
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homedock with id:f7454deb-1d07-4f98-a219-df6034d2cc9f
[rp.slamware.artifact.HomeDockManagerService#0] [INFO] set homepose to existing dock:b97b25ef-20e3-4cf4-ad0a-52bfee32a393
[rp.algorithm.slam.CSLAMBuilder] [INFO] setRobotPose in (-3.739183, 3.524108, 0.444496)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.739183, 3.524108, 0.444496)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.739183, 3.524108, 0.444496)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.739183, 3.524108, 0.444496)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.739183, 3.524108, 0.444496)
[rp.algorithm.slam.SDPSLAMBuilder] [INFO] {"category":"map.set","data":{"param":{"dimension":{"x":388,"y":514},"mapPose":{"x":-2.049996137619019,"y":1.350003957748413},"partially":false,"resolution":0.05000000074505806}},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066649409959","usTick":"17040990232"}
[rp.slamware.map.PoiService#0] [INFO] clear all pois
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-1.51000 y:-1.05000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-1.34000 y:-4.90000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 0.86000 y:-4.17000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-1.88000 y: 0.50000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-1.47000 y:-5.35000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x:-2.82000 y:-0.62000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 1.14000 y:-1.97000
[rp.slamware.server.SlamwareServerAgent] [INFO] set poi in position x: 0.98000 y:-3.80000
[rp.slamware.server.SlamwareServerAgent] [INFO] set rectangle area map, id:791dedc9-bb32-48f5-bef3-7720a224428d, rectangle area count:8
[rp.slamware.motion.ElevatorAreaService#0] [INFO] clear all elevator areas
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 165.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 155.
[rp.slamware.server.SlamwareServerAgent] [WARN] Relocalizationing, please wait for a moment
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 171, icpInfo.goodness = 0.726331, ICP takes: 72 ms
[rp.algorithm.slam.RelocalizationProxy] [WARN] Global relocalization Succeed, finalRobotPos x = -3.712059,  y =  3.539385, yaw = 0.003886, takes : 0.842000 s
[rp.algorithm.slam.RelocalizationService#0] [INFO] pose : (-3.712059, 3.539385, 0.003886)
[rp.algorithm.slam.RelocalizationProxy] [INFO] localPoints = 233, icpInfo.goodness = 0.651343, ICP takes: 66 ms
[rp.algorithm.slam.RelocalizationProxy] [WARN] Global relocalization Succeed, finalRobotPos x = -3.734964,  y =  3.520978, yaw = 0.008106, takes : 0.999000 s
[rp.algorithm.slam.RelocalizationProxy] [INFO] parallel reloc takes: 1001 ms
[rp.algorithm.slam.RelocalizationProxy] [INFO] both reloc success
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.734964, 3.520978, 0.464424)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.734964, 3.520978, 0.464424)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.734964, 3.520978, 0.464424)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.734964, 3.520978, 0.464424)
[rp.algorithm.slam.CSLAMBuilder] [INFO] processObservation takes :1003 ms
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28366, status 10, reason 
[rp.slamware.motionplan.algorithm.path_finding.CostMapBuilder#0] [INFO] cost map rebuild time:1056 ms, raw area:-204,-160,266,391
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.05000000074505806},"points":[[-2.820,-0.620]],"yaw":0.05000000074505806}},"isCustomerLog":true,"usEpoch":"1663066681410067","usTick":"17072990340"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.820000, -0.620000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066681410241","usTick":"17072990515"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move.invoke","isCustomerLog":true,"keyword":"undock","usEpoch":"1663066681456009","usTick":"17073036282"}
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.16000-> 0.00080 omega:  0.00000-> 0.00000.
[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 : 2 ms
[rp.slamware.system.BaseMonitorLogSupplier] [INFO] {"category":"base.status","data":{"isCharging":false,"isOnDock":false},"isCustomerLog":true,"usEpoch":"1663066681971736","usTick":"17073552009"}
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.15999-> 0.15999 omega:  0.00004-> 0.00004.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.16000-> 0.16000 omega: -0.00003->-0.00003.
[rp.algorithm.motion.UnDockController] [INFO] move to landing points success
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-3.468277215957642,"y":3.503317594528198},"moveType":"VirtualTrack","robotPose":{"x":-3.468277175934172,"y":3.503317489272698,"yaw":0.007686002645641566},"to":{"x":-2.819999933242798,"y":-0.6200000047683716}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066683547797","usTick":"17075128069"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-3.4683, 3.5033) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2935
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-3.46828, 3.50332) to (-2.82, -0.62), used 8 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 94, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-3.458333, 3.508333) --> (-2.820000, -0.620000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.820000, y = -0.620000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-3.4485, 3.5035) to (-2.0083, 0.4750).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:2257
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching local path status: Successed, Basic, (-3.44848, 3.50347) to (-2.00833, 0.475), used 7 ms.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitLocalPathReady] --> [RunningStageRotateToPathDirection].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] yaw diff : -1.14150::-1.13381 ->  0.00769.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageRotateToPathDirection] --> [RunningStageWaitRotate].
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega: -0.67200->-0.66900.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.00000->-0.52700.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageRotateToPathDirection] --> [RunningStageWaitRotate].
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.12900-> 0.12900.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.80000-> 0.80000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.36930-> 0.06720 omega: -0.55690->-0.25111.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.53363-> 0.26760 omega: -0.43966->-0.43966.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.56910-> 0.47840 omega: -0.45944->-0.45944.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.64612-> 0.63351 omega: -0.36983->-0.36983.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.60611-> 0.60611 omega: -0.26379->-0.26379.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.64089-> 0.64089 omega: -0.08793->-0.08793.
[rp.algorithm.motion.MoveByWayPointsAction] [WARN] check path occupied in front, update local path.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2722, 1.0632) to (-2.8200, -0.6200).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:1499
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching local path status: Successed, Basic, (-2.27221, 1.06317) to (-2.82, -0.62), used 5 ms.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitLocalPlanResult] --> [RunningStageWaitLocalPathReady].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] filter path time cost:1189, path size before filter:45, after filter:42
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitLocalPathReady] --> [RunningStageRotateToPathDirection].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] yaw diff :  0.46869::-1.04410 -> -1.51279.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.52911-> 0.47055 omega:  0.85000-> 0.21628.
[rp.algorithm.motion.MoveByWayPointsAction] [WARN] current pose is occupancy, go out.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageRequestLocalPlan] --> [RunningStageGoOutOccupiedSpace].
[rp.algorithm.motion.BreakOutAction] [INFO] simple move from:(-2.25395,  0.79306) to:(-2.02500,  0.67500).
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  1.77440-> 0.85000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  1.77440-> 0.85000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.01084-> 0.01084 omega:  1.79096-> 0.85000.
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28367 is under status error
[rp.algorithm.motion.SensorMonitor] [INFO] robot is isStationaryOrRotateStable(2009 ms).
[rp.algorithm.motion.SensorMonitor] [INFO] StageWaitStationayOrPureRotate change to StageHibernateSensor
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 8 ms
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] the milestone[-1.8800, 0.5000] is occupied wait timeout and stop nearby, robot pose[-2.2459, 0.7040] norm: 0.4190.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitDelay] --> [RunningStageUnknown].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitDelay] --> [RunningStageUnknown].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onReturnFromChild: [MoveByWayPoints] --> [AdjustYaw].
[rp.algorithm.motion.AdjustYawAction] [INFO] onStart, required yaw : 0.000000, timeout : 60000
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.80000-> 0.00300.
[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 : 7 ms
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.17453-> 0.49100.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.17453-> 0.17453.
[rp.algorithm.motion.AdjustYawAction] [INFO] onStop
[rp.algorithm.motion.AdjustYawAction] [INFO] onAbort
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7989315","usEpoch":"1663066706109362","usTick":"17097689635"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28368, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706184397","usTick":"17097764670"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706184549","usTick":"17097764822"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"8482","usEpoch":"1663066706193032","usTick":"17097773304"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28369, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706230718","usTick":"17097810991"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706238352","usTick":"17097818625"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.275731801986694,"y":0.7208120822906494},"moveType":"VirtualTrack","robotPose":{"x":-2.275731834802487,"y":0.7208120792696874,"yaw":-0.3810835930725451},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066706257846","usTick":"17097838118"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2757, 0.7208) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:95
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27573, 0.720812) to (-1.88, 0.5), used 0 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 9, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"38532","usEpoch":"1663066706276884","usTick":"17097857157"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28370, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706324608","usTick":"17097904881"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706324814","usTick":"17097905087"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"9025","usEpoch":"1663066706333839","usTick":"17097914112"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28371, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706352055","usTick":"17097932328"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706352404","usTick":"17097932677"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28370 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28370 is under status error
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"12438","usEpoch":"1663066706364842","usTick":"17097945115"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28372, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706407348","usTick":"17097987621"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706407677","usTick":"17097987950"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"6504","usEpoch":"1663066706414181","usTick":"17097994454"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28373, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706436556","usTick":"17098016829"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706438564","usTick":"17098018837"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"9687","usEpoch":"1663066706448251","usTick":"17098028524"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28374, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706478425","usTick":"17098058698"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706479193","usTick":"17098059465"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"8573","usEpoch":"1663066706487765","usTick":"17098068038"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28375, status -2, reason aborted
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28378, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706817286","usTick":"17098397559"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706817605","usTick":"17098397878"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"20704","usEpoch":"1663066706838309","usTick":"17098418582"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28379, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706874220","usTick":"17098454493"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706874384","usTick":"17098454657"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"24496","usEpoch":"1663066706898879","usTick":"17098479153"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28380, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706911257","usTick":"17098491530"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706911646","usTick":"17098491919"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.275323867797852,"y":0.7206294536590576},"moveType":"VirtualTrack","robotPose":{"x":-2.275323954535457,"y":0.7206294795096333,"yaw":-0.3960777172562495},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066706922640","usTick":"17098502912"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2753, 0.7206) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:168
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27532, 0.720629) to (-1.88, 0.5), used 2 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 10, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"32192","usEpoch":"1663066706943838","usTick":"17098524111"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28381, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066706977043","usTick":"17098557315"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066706977486","usTick":"17098557759"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"19132","usEpoch":"1663066706996618","usTick":"17098576891"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28382, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066707027996","usTick":"17098608269"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066707029218","usTick":"17098609492"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"5125","usEpoch":"1663066707034344","usTick":"17098614617"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28383, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066707055749","usTick":"17098636022"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066707056090","usTick":"17098636363"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"12210","usEpoch":"1663066707068300","usTick":"17098648573"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28384, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066707112015","usTick":"17098692288"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066707112447","usTick":"17098692720"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"6503","usEpoch":"1663066707118950","usTick":"17098699223"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28385, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066707154593","usTick":"17098734867"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066707154803","usTick":"17098735076"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"12667","usEpoch":"1663066707167470","usTick":"17098747743"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28386, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066707267105","usTick":"17098847378"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066707268937","usTick":"17098849210"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28381 is under status error
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"30361","usEpoch":"1663066707299299","usTick":"17098879571"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28387, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066707352570","usTick":"17098932842"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066707352909","usTick":"17098933182"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7628","usEpoch":"1663066707360538","usTick":"17098940810"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28388, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066707383610","usTick":"17098963883"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066707383796","usTick":"17098964070"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"8800","usEpoch":"1663066707392597","usTick":"17098972870"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28389, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066707459102","usTick":"17099039375"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066707459886","usTick":"17099040159"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"16407","usEpoch":"1663066707476293","usTick":"17099056566"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28390, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28390 is under status error
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"9909","usEpoch":"1663066708043587","usTick":"17099623860"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28398, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27504, 0.722823) to (-1.88, 0.5), used 8 ms, canceled when finding..
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28405, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066708565799","usTick":"17100146072"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066708566094","usTick":"17100146368"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.274223327636719,"y":0.7180460095405579},"moveType":"VirtualTrack","robotPose":{"x":-2.274223308190560,"y":0.7180460329520998,"yaw":-1.346783018293302},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066708600754","usTick":"17100181027"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"66626","usEpoch":"1663066708632721","usTick":"17100212994"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28406, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28406 is under status error
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27422, 0.718046) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066708674808","usTick":"17100255081"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066708675130","usTick":"17100255403"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.274188518524170,"y":0.7190269231796265},"moveType":"VirtualTrack","robotPose":{"x":-2.274188430861550,"y":0.7190269527031438,"yaw":-1.449275736931827},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066708704543","usTick":"17100284816"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"48663","usEpoch":"1663066708723793","usTick":"17100304066"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28407, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27419, 0.719027) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066708786130","usTick":"17100366403"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066708790193","usTick":"17100370466"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"17656","usEpoch":"1663066708807849","usTick":"17100388122"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28408, status -2, reason aborted
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28413, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066709189766","usTick":"17100770038"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066709190148","usTick":"17100770421"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.274747371673584,"y":0.722250223159790},"moveType":"VirtualTrack","robotPose":{"x":-2.274747323035236,"y":0.7222502470683891,"yaw":-1.386796438167929},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066709209262","usTick":"17100789535"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"19505","usEpoch":"1663066709209653","usTick":"17100789926"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28414, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27475, 0.72225) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066709224640","usTick":"17100804913"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066709224979","usTick":"17100805252"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7139","usEpoch":"1663066709232118","usTick":"17100812391"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28415, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066709265700","usTick":"17100845973"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066709266162","usTick":"17100846435"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"11600","usEpoch":"1663066709277762","usTick":"17100858035"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28416, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066709299172","usTick":"17100879445"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066709299341","usTick":"17100879614"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"20212","usEpoch":"1663066709319553","usTick":"17100899826"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28417, status -2, reason aborted
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onPreSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageWaitDelay].
[rp.algorithm.motion.SensorMonitor] [INFO] robot is isStationaryOrRotateStable(2007 ms).
[rp.algorithm.motion.SensorMonitor] [INFO] StageWaitStationayOrPureRotate change to StageHibernateSensor
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 6 ms
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28422, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066712128070","usTick":"17103708343"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066712128287","usTick":"17103708560"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"12413","usEpoch":"1663066712140700","usTick":"17103720973"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28423, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066712168507","usTick":"17103748780"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066712168738","usTick":"17103749011"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"5102","usEpoch":"1663066712173841","usTick":"17103754113"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28424, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066712213291","usTick":"17103793564"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066712214012","usTick":"17103794285"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10072","usEpoch":"1663066712224084","usTick":"17103804357"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28425, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066712253754","usTick":"17103834027"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066712253960","usTick":"17103834233"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"12747","usEpoch":"1663066712266708","usTick":"17103846980"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28426, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066712323782","usTick":"17103904055"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066712325753","usTick":"17103906026"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.274794578552246,"y":0.7225033044815063},"moveType":"VirtualTrack","robotPose":{"x":-2.274794474100374,"y":0.722503291742930,"yaw":-1.385499658465479},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066712346269","usTick":"17103926542"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2748, 0.7225) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:143
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27479, 0.722503) to (-1.88, 0.5), used 0 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 10, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -1.880000, y = 0.500000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] start far wait milestone free.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onPreSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageWaitDelay].
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"flags":["milestone","precise"],"mode":0},"points":[[-2.190000057220459,-0.4699999988079071]]}},"isCustomerLog":true,"usEpoch":"1663066717381064","usTick":"17108961337"}
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitDelay] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"5055666","usEpoch":"1663066717381419","usTick":"17108961692"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28427, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-2.190000, -0.470000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"Basic"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066717381662","usTick":"17108961936"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-2.190000, -0.470000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.325000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.274794578552246,"y":0.7225033044815063},"moveType":"Basic","robotPose":{"x":-2.274794474100374,"y":0.722503291742930,"yaw":-1.385499658465479},"to":{"x":-2.190000057220459,"y":-0.4699999988079071}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066717398764","usTick":"17108979036"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2748, 0.7225) to (-2.1900, -0.4700).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:533
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, Basic, (-2.27479, 0.722503) to (-2.19, -0.47), used 1 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 30, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-2.190000, -0.470000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28427 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28427 is under status error
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -2.190000, y = -0.470000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2748, 0.7225) to (-2.1900, -0.4700).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:503
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching local path status: Successed, Basic, (-2.27479, 0.722503) to (-2.19, -0.47), used 1 ms.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] escape from forbidden area successfully
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitLocalPathReady] --> [RunningStageRotateToPathDirection].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] yaw diff :  0.42751::-0.95799 -> -1.38550.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageRotateToPathDirection] --> [RunningStageWaitRotate].
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.00600-> 0.00300.
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066717531559","usTick":"17109111831"}
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitRotate] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"151886","usEpoch":"1663066717533549","usTick":"17109113822"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28428, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066717534912","usTick":"17109115185"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.274794578552246,"y":0.7225033044815063},"moveType":"VirtualTrack","robotPose":{"x":-2.274794474100374,"y":0.722503291742930,"yaw":-1.385499658465479},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066717556211","usTick":"17109136484"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2748, 0.7225) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:138
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27479, 0.722503) to (-1.88, 0.5), used 1 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 10, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -1.880000, y = 0.500000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageUpdateLocalPath] --> [RunningStageWaitLocalPathReady].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] enable PathAverageSmoothFilter
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2748, 0.7225) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:104
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching local path status: Successed, Basic, (-2.27479, 0.722503) to (-1.88, 0.5), used 1 ms.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageWaitLocalPathReady] --> [RunningStageRotateToPathDirection].
[rp.algorithm.motion.MoveByWayPointsAction] [WARN] intend to rotate to path direction, but current pose is occupancy, go out, lines = 480.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageRotateToPathDirection] --> [RunningStageGoOutOccupiedSpace].
[rp.algorithm.motion.BreakOutAction] [INFO] simple move from:(-2.27487,  0.72288) to:(-2.12500,  0.70833).
[rp.algorithm.motion.SensorMonitor] [INFO] StageWakeUpSensor change to StageWaitStationayOrPureRotate, duration : 4 ms
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageGoOutOccupiedSpace] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"711011","usEpoch":"1663066718245923","usTick":"17109826196"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28429, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066718267773","usTick":"17109848046"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066718267931","usTick":"17109848204"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10116","usEpoch":"1663066718278047","usTick":"17109858320"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28430, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066718309019","usTick":"17109889292"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066718309179","usTick":"17109889452"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7359","usEpoch":"1663066718316538","usTick":"17109896811"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28431, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066718353951","usTick":"17109934224"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066718354145","usTick":"17109934418"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.274973869323730,"y":0.7241147160530090},"moveType":"VirtualTrack","robotPose":{"x":-2.274973825921008,"y":0.7241146931003506,"yaw":-1.138546033477133},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066718399215","usTick":"17109979487"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"57133","usEpoch":"1663066718411278","usTick":"17109991551"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28432, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27497, 0.724115) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066718431062","usTick":"17110011335"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066718431283","usTick":"17110011556"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"14165","usEpoch":"1663066718445449","usTick":"17110025721"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28433, status -2, reason aborted
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28436, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066718869515","usTick":"17110449788"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066718870239","usTick":"17110450511"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.276455879211426,"y":0.7265148162841797},"moveType":"VirtualTrack","robotPose":{"x":-2.276455880600297,"y":0.7265148069140920,"yaw":-1.039957617531923},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066718899191","usTick":"17110479464"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"42500","usEpoch":"1663066718912738","usTick":"17110493011"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28437, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27646, 0.726515) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066718946786","usTick":"17110527059"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066718947850","usTick":"17110528123"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277350902557373,"y":0.7280683517456055},"moveType":"VirtualTrack","robotPose":{"x":-2.277350825712229,"y":0.7280683611424438,"yaw":-1.053351274653724},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066718976741","usTick":"17110557013"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2774, 0.7281) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:84
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27735, 0.728068) to (-1.88, 0.5), used 0 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 9, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -1.880000, y = 0.500000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] checkNearByObstacle: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageUpdateLocalPath].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageUpdateLocalPath] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"107343","usEpoch":"1663066719055193","usTick":"17110635466"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28438, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28438 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719084310","usTick":"17110664583"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719084738","usTick":"17110665011"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"12452","usEpoch":"1663066719097190","usTick":"17110677463"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28439, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719116254","usTick":"17110696527"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719116795","usTick":"17110697067"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"22718","usEpoch":"1663066719139512","usTick":"17110719785"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28440, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719185871","usTick":"17110766144"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719187020","usTick":"17110767293"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277762413024902,"y":0.7287924885749817},"moveType":"VirtualTrack","robotPose":{"x":-2.277762515426940,"y":0.7287925163017867,"yaw":-1.047757494157517},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066719204896","usTick":"17110785168"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"21977","usEpoch":"1663066719208998","usTick":"17110789270"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28441, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27776, 0.728792) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719247764","usTick":"17110828036"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719250298","usTick":"17110830571"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10001","usEpoch":"1663066719260299","usTick":"17110840572"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28442, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"13075","usEpoch":"1663066719425029","usTick":"17111005302"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28446, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719447520","usTick":"17111027793"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719447739","usTick":"17111028012"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"8337","usEpoch":"1663066719456076","usTick":"17111036349"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28447, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719505762","usTick":"17111086035"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719505945","usTick":"17111086218"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"23131","usEpoch":"1663066719529077","usTick":"17111109349"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28448, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719577058","usTick":"17111157331"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719579769","usTick":"17111160042"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277762651443481,"y":0.7287926077842712},"moveType":"VirtualTrack","robotPose":{"x":-2.277762565301235,"y":0.7287926029776601,"yaw":-1.048652848111930},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066719588189","usTick":"17111168462"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"21139","usEpoch":"1663066719600908","usTick":"17111181181"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28449, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27776, 0.728793) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719650297","usTick":"17111230570"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719650586","usTick":"17111230859"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10371","usEpoch":"1663066719660957","usTick":"17111241230"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28450, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719682570","usTick":"17111262843"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719683783","usTick":"17111264056"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277762651443481,"y":0.7287926077842712},"moveType":"VirtualTrack","robotPose":{"x":-2.277762565301235,"y":0.7287926029776601,"yaw":-1.048652848111930},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066719717240","usTick":"17111297512"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"37517","usEpoch":"1663066719721300","usTick":"17111301573"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28451, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719739330","usTick":"17111319603"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719739506","usTick":"17111319780"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7281","usEpoch":"1663066719746788","usTick":"17111327061"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28452, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28451 is under status error
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27776, 0.728793) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719817041","usTick":"17111397314"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719817251","usTick":"17111397524"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"15933","usEpoch":"1663066719833184","usTick":"17111413457"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28453, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066719867618","usTick":"17111447891"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066719868153","usTick":"17111448426"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277762651443481,"y":0.7287926077842712},"moveType":"VirtualTrack","robotPose":{"x":-2.277762565301235,"y":0.7287926029776601,"yaw":-1.048652848111930},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066719915865","usTick":"17111496138"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2778, 0.7288) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:92
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27776, 0.728793) to (-1.88, 0.5), used 0 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 10, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27776, 0.728793) to (-1.88, 0.5), used 0 ms.
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066720295874","usTick":"17111876147"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066720296343","usTick":"17111876616"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"14489","usEpoch":"1663066720310833","usTick":"17111891105"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28460, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066720327233","usTick":"17111907506"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066720329338","usTick":"17111909611"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"16839","usEpoch":"1663066720346177","usTick":"17111926450"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28461, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066720362334","usTick":"17111942607"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066720362534","usTick":"17111942807"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10247","usEpoch":"1663066720372781","usTick":"17111953054"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28462, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066720391714","usTick":"17111971988"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066720393118","usTick":"17111973392"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277762651443481,"y":0.7287926077842712},"moveType":"VirtualTrack","robotPose":{"x":-2.277762565301235,"y":0.7287926029776601,"yaw":-1.048652848111930},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066720402186","usTick":"17111982459"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"14211","usEpoch":"1663066720407330","usTick":"17111987603"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28463, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27776, 0.728793) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066720438816","usTick":"17112019089"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066720439030","usTick":"17112019303"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7467","usEpoch":"1663066720446497","usTick":"17112026770"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28464, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066720468091","usTick":"17112048364"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066720468286","usTick":"17112048559"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277762651443481,"y":0.7287926077842712},"moveType":"VirtualTrack","robotPose":{"x":-2.277762565301235,"y":0.7287926029776601,"yaw":-1.048652848111930},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066720488702","usTick":"17112068975"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"36471","usEpoch":"1663066720504757","usTick":"17112085030"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28465, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27776, 0.728793) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066720533475","usTick":"17112113748"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066720533652","usTick":"17112113926"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"13332","usEpoch":"1663066720546985","usTick":"17112127258"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28466, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066720586018","usTick":"17112166291"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066720586905","usTick":"17112167178"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28466 is under status error
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277762651443481,"y":0.7287926077842712},"moveType":"VirtualTrack","robotPose":{"x":-2.277762565301235,"y":0.7287926029776601,"yaw":-1.048652848111930},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066720599803","usTick":"17112180076"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28465 is under status error
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2778, 0.7288) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:113
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27776, 0.728793) to (-1.88, 0.5), used 2 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 9, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"32816","usEpoch":"1663066720619721","usTick":"17112199994"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28467, status -2, reason aborted
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] setWayPoints: [RunningStageUnknown] --> [RunningStageBackUpIfNearByOccupied].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] not support static object obstacle service.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] invokeMoveByWayPointsAction milestoneLocation x = -1.880000, y = 0.500000
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] start far wait milestone free.
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] onPreSensorData: [RunningStageBackUpIfNearByOccupied] --> [RunningStageWaitDelay].
[rp.algorithm.motion.MoveByWayPointsAction] [INFO] reset: [RunningStageWaitDelay] --> [RunningStageUnknown].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"123664","usEpoch":"1663066720852825","usTick":"17112433098"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28468, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721021304","usTick":"17112601577"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721022761","usTick":"17112603034"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"27055","usEpoch":"1663066721049816","usTick":"17112630089"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28469, status -2, reason aborted
[rp.algorithm.motion.SensorMonitor] [INFO] robot is isStationaryOrRotateStable(2010 ms).
[rp.algorithm.motion.SensorMonitor] [INFO] StageWaitStationayOrPureRotate change to StageHibernateSensor
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 7 ms
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721149440","usTick":"17112729713"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721151291","usTick":"17112731564"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277762651443481,"y":0.7287926077842712},"moveType":"VirtualTrack","robotPose":{"x":-2.277762565301235,"y":0.7287926029776601,"yaw":-1.048652848111930},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066721193021","usTick":"17112773294"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2778, 0.7288) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:113
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27776, 0.728793) to (-1.88, 0.5), used 0 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 9, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RecheckPath] --> [MoveByWayPoints].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"79611","usEpoch":"1663066721230903","usTick":"17112811175"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28470, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721318412","usTick":"17112898685"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721318641","usTick":"17112898914"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"8288","usEpoch":"1663066721326929","usTick":"17112907202"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28471, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721348340","usTick":"17112928613"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721348507","usTick":"17112928780"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"21719","usEpoch":"1663066721370226","usTick":"17112950499"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28472, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721388012","usTick":"17112968285"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721388210","usTick":"17112968484"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"6080","usEpoch":"1663066721394291","usTick":"17112974564"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28473, status -2, reason aborted
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.70000-> 0.00160 omega:  0.00000-> 0.00000.
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721447923","usTick":"17113028196"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28474, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721448199","usTick":"17113028472"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28475, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721531312","usTick":"17113111585"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721531550","usTick":"17113111823"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"15891","usEpoch":"1663066721547441","usTick":"17113127714"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28476, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721680251","usTick":"17113260524"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28477, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721680509","usTick":"17113260783"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.SensorMonitor] [INFO] isMoving
[rp.algorithm.motion.SensorMonitor] [INFO] StageCheckSensorStatus change to StageWakeUpSensor
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.SensorMonitor] [INFO] StageWakeUpSensor change to StageWaitStationayOrPureRotate, duration : 5 ms
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277890205383301,"y":0.7290145754814148},"moveType":"VirtualTrack","robotPose":{"x":-2.277890092985849,"y":0.7290145774507047,"yaw":-1.053944686566892},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066721715435","usTick":"17113295708"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"35323","usEpoch":"1663066721715833","usTick":"17113296106"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28478, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27789, 0.729015) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721733528","usTick":"17113313801"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28479, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721733912","usTick":"17113314185"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"8732","usEpoch":"1663066721742645","usTick":"17113322917"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28480, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721796890","usTick":"17113377163"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721797524","usTick":"17113377797"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"12644","usEpoch":"1663066721810168","usTick":"17113390441"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28481, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721839651","usTick":"17113419924"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28482, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721840192","usTick":"17113420465"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10029","usEpoch":"1663066721850222","usTick":"17113430494"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28483, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066721941111","usTick":"17113521384"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28484, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066721943606","usTick":"17113523878"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.278016328811646,"y":0.7292374968528748},"moveType":"VirtualTrack","robotPose":{"x":-2.278016393307575,"y":0.7292374824059222,"yaw":-1.056536500637328},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066721964570","usTick":"17113544843"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2780, 0.7292) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:113
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27802, 0.729237) to (-1.88, 0.5), used 0 ms.
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"51005","usEpoch":"1663066721994611","usTick":"17113574883"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28485, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722037549","usTick":"17113617822"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28486, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722038697","usTick":"17113618970"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.278016328811646,"y":0.7292374968528748},"moveType":"VirtualTrack","robotPose":{"x":-2.278016393307575,"y":0.7292374824059222,"yaw":-1.056536500637328},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066722100402","usTick":"17113680675"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"78292","usEpoch":"1663066722116989","usTick":"17113697262"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28487, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27802, 0.729237) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28487 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722148805","usTick":"17113729078"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722150128","usTick":"17113730401"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"14391","usEpoch":"1663066722164520","usTick":"17113744792"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28488, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722259689","usTick":"17113839963"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28489, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722261565","usTick":"17113841838"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"21084","usEpoch":"1663066722282649","usTick":"17113862922"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28490, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722314357","usTick":"17113894630"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722314775","usTick":"17113895048"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"13783","usEpoch":"1663066722328558","usTick":"17113908831"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28491, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722347885","usTick":"17113928159"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28492, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722349427","usTick":"17113929700"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"11264","usEpoch":"1663066722360691","usTick":"17113940964"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28493, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722387637","usTick":"17113967910"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722388332","usTick":"17113968605"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277858972549438,"y":0.7289588451385498},"moveType":"VirtualTrack","robotPose":{"x":-2.277859075395287,"y":0.728958822956750,"yaw":-1.056536500637328},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066722403350","usTick":"17113983623"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2779, 0.7290) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:113
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27786, 0.728959) to (-1.88, 0.5), used 1 ms.
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"30605","usEpoch":"1663066722418936","usTick":"17113999210"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28494, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"34270","usEpoch":"1663066722484716","usTick":"17114064989"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28496, status -2, reason aborted
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.70000-> 0.00080 omega:  0.00000-> 0.00000.
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722506690","usTick":"17114086963"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28497, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722507165","usTick":"17114087438"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"10517","usEpoch":"1663066722517681","usTick":"17114097955"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28498, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722556551","usTick":"17114136824"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722556706","usTick":"17114136979"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"5726","usEpoch":"1663066722562432","usTick":"17114142705"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28499, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722607693","usTick":"17114187966"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722608286","usTick":"17114188559"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.278016567230225,"y":0.7292373776435852},"moveType":"VirtualTrack","robotPose":{"x":-2.278016567435394,"y":0.7292373840214839,"yaw":-1.056536500637328},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066722636093","usTick":"17114216366"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] start path finding from (-2.2780, 0.7292) to (-1.8800, 0.5000).
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] path finding main loop finished, total cycle:92
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] Searching global path status: Successed, VirtualTrack, (-2.27802, 0.729237) to (-1.88, 0.5), used 0 ms.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] global path find succeed, size: 10, mode: assign.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] (-2.275000, 0.725000) --> (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [WaitPathFinderResult] --> [RecheckPath].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"78323","usEpoch":"1663066722686609","usTick":"17114266882"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28500, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722803239","usTick":"17114383512"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28501, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722803548","usTick":"17114383821"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"6819","usEpoch":"1663066722810367","usTick":"17114390640"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28502, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066722859797","usTick":"17114440068"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066722862171","usTick":"17114442444"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277827501296997,"y":0.7289032936096191},"moveType":"VirtualTrack","robotPose":{"x":-2.277827457119437,"y":0.7289032935800556,"yaw":-1.054445596070484},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066722898538","usTick":"17114478811"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"46901","usEpoch":"1663066722909073","usTick":"17114489345"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28503, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27783, 0.728903) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28503 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28501 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066723000848","usTick":"17114581121"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28504, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066723001139","usTick":"17114581412"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"21572","usEpoch":"1663066723022711","usTick":"17114602984"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28505, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066723043407","usTick":"17114623680"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066723043915","usTick":"17114624188"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"389","usEpoch":"1663066723044309","usTick":"17114624577"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28506, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28504 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28506 is under status error
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066723117885","usTick":"17114698158"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28507, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066723119112","usTick":"17114699386"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277923345565796,"y":0.7290703058242798},"moveType":"VirtualTrack","robotPose":{"x":-2.277923334183993,"y":0.7290703353222474,"yaw":-1.052750881288923},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066723146854","usTick":"17114727127"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"28125","usEpoch":"1663066723147238","usTick":"17114727511"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28508, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27792, 0.72907) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066723295519","usTick":"17114875792"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28509, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066723295852","usTick":"17114876125"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onSensorData: [Undock] --> [MoveToMilestone].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] doInvokeChildMoveToMilestoneAction_ : (-1.880000, 0.500000)
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] thresholdOfFindNearestGoal: 0.070711.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] distance of alternative near goal: 0.500000.
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] {"category":"action.move.milestone","data":{"from":{"x":-2.277574777603149,"y":0.7284588217735291},"moveType":"VirtualTrack","robotPose":{"x":-2.277574762012955,"y":0.7284587987831553,"yaw":-1.059739179851783},"to":{"x":-1.879999995231628,"y":0.50}},"isCustomerLog":true,"keyword":"requestGlobalPathFind","usEpoch":"1663066723317156","usTick":"17114897429"}
[rp.algorithm.motion.MoveToMilestoneAction] [INFO] onSensorData: [RequestPathFinder] --> [WaitPathFinderResult].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"37468","usEpoch":"1663066723333320","usTick":"17114913593"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28510, status -2, reason aborted
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] just use explore map : 0
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [WARN] Searching global path status: Canceled, VirtualTrack, (-2.27757, 0.728459) to (-1.88, 0.5), used 0 ms, canceled before finding..
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066723361223","usTick":"17114941496"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28511, status -2, reason aborted
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066723361440","usTick":"17114941713"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.algorithm.motion.NavigationScheduleAction] [INFO] onReturnFromChild: [MapAlignment] --> [Undock].
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"code":0,"id":0,"status":-2},"isCustomerLog":true,"keyword":"end","usElapsed":"7160","usEpoch":"1663066723368601","usTick":"17114948873"}
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28512, status -2, reason aborted
[rp.slamware.server.SlamwareServerAgent] [INFO] {"category":"request.move","data":{"param":{"options":{"acceptable_precision":0.50,"flags":["with_yaw"],"mode":2,"yaw":0.0},"points":[[-1.880,0.50]],"yaw":0.0}},"isCustomerLog":true,"usEpoch":"1663066723389667","usTick":"17114969940"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] pushMilestone, (-1.880000, 0.500000).
[rp.algorithm.motion.NavigationScheduleAction] [INFO] {"category":"action.move","data":{"id":0,"moveType":"VirtualTrack"},"isCustomerLog":true,"keyword":"begin","usEpoch":"1663066723389919","usTick":"17114970193"}
[rp.algorithm.motion.NavigationScheduleAction] [INFO] schedulerService doesn't create
[rp.slamware.server.SlamwareServerAgent] [INFO] Action #28526 is under status error
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.49497-> 0.06480 omega:  1.56836-> 0.58650.
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28528, status 10, reason 
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28529, status 10, reason 
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega: -2.21789->-0.85000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.70000-> 0.18840 omega:  0.00000-> 0.00000.
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28531, status 10, reason 
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.70000-> 0.30400 omega:  0.00000-> 0.00000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.70000-> 0.50560 omega:  0.00000-> 0.00000.
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28532, status 10, reason 
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.16570 omega:  2.21789-> 0.12900.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  2.21789-> 0.18000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  2.21789-> 0.85000.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  2.21789-> 0.85000.
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28535, status 10, reason 
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx: -0.70000->-0.03800 omega:  0.00000-> 0.00000.
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28537, status 10, reason 
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28538, status 10, reason 
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000->-0.03520 omega:  0.00000->-0.50800.
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega: -2.21789->-0.69000.
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28539, status 10, reason 
[rp.algorithm.motion.ActionHistory] [INFO] Creating gravestone of action 28540, status 10, reason 
[rp.algorithm.motion.SDPMotionPlanner] [INFO] submitVelocityControl: vx:  0.00000-> 0.00000 omega:  0.00000->-0.27000.
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 7 ms
[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 : 4 ms
[rp.slamware.system.HealthUpdatingService#0] [WARN] BaseDriverHealthProvider reported health status: 0x2010700::motor brake released
[rp.algorithm.slam.CSLAMBuilder] [INFO] processObservation takes :240 ms
[rp.slamware.system.BaseMonitorLogSupplier] [INFO] {"category":"base.status","data":{"isCharging":true,"isOnDock":true},"isCustomerLog":true,"usEpoch":"1663066932111602","usTick":"17323691874"}
[rp.slamware.motionplan.algorithm.path_finding.GlobalPathFinderService#0] [INFO] virtual track assist rebuilt (10748 us).
[rp.algorithm.motion.SensorMonitor] [INFO] robot is isStationaryOrRotateStable(2008 ms).
[rp.algorithm.motion.SensorMonitor] [INFO] StageWaitStationayOrPureRotate change to StageHibernateSensor
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 6 ms
[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":"940242","usEpoch":"1663066934221986","usTick":"17325802258"}
[rp.algorithm.slam.CSLAMBuilder] [INFO] setRobotPose in (-3.623331, 6.254166, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.623331, 6.254166, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.623331, 6.254166, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] setPose (-3.623331, 6.254166, 0.773916)
[rp.algorithm.slam.AMCLProxy] [INFO] EKF is reset after set pose!
[rp.algorithm.slam.MonteCarlo] [INFO] setPose (-3.623331, 6.254166, 0.773916)
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 51.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 36.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 42.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [WARN] time cost of merge rectangle cost map is 45.
[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 37.
[rp.slamware.motionplan.algorithm.path_finding.CostMapBuilder#0] [INFO] cost map rebuild time:753 ms, raw area:-204,-160,266,391
[rp.slamware.system.BaseMonitorLogSupplier] [INFO] {"category":"base.status","data":{"batteryPercentage":73},"isCustomerLog":true,"usEpoch":"1663067269834034","usTick":"17661414307"}
[rp.slamware.system.HealthUpdatingService#0] [WARN] LocalCostMapHealthProvider reported health status: 0x1040A00::depth camera disconnect
[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 : 7 ms
[rp.algorithm.motion.SensorMonitor] [INFO] StageHibernateSensor change to StageCheckSensorStatus, duration: 5 ms
[rp.algorithm.slamsdp.RpStatisticsLoader] [INFO] output statistics info to file(/root/statistics.info.bk)
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [INFO] depth frame timeout, current: 18074395, gap: 202.
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [INFO] depth frame timeout, current: 18074421, gap: 228.
[rp.slamware.system.HealthUpdatingService#0] [WARN] LocalCostMapHealthProvider reported health status: 0x1040A00::depth camera disconnect
[rp.slamware.motionplan.algorithm.local_planner.LocalCostMapBuilder#0] [INFO] depth frame timeout, current: 18074644, gap: 205.
[rp.slamware.system.HealthUpdatingService#0] [WARN] LocalCostMapHealthProvider reported health status: 0x1040A00::depth camera disconnect
