4595 lines
366 KiB
Plaintext
Executable File
4595 lines
366 KiB
Plaintext
Executable File
[2026-09-13 11:07:33.135] [INFO] lidar_type = mid360
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[2026-09-13 11:07:35.438] [INFO] Init success.
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[2026-09-13 11:07:47.062] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
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[2026-09-13 11:07:47.062] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
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[2026-09-13 11:07:47.094] [INFO] lidar_type = mid360
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[2026-09-13 11:07:47.122] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
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[2026-09-13 11:08:10.320] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:08:10.320] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:08:10.322] [INFO] Thread is still running...
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[2026-09-13 11:08:10.328] [INFO] lidar_type = mid360
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[2026-09-13 11:08:10.348] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
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[2026-09-13 11:09:57.742] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
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[2026-09-13 11:09:57.742] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
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[2026-09-13 11:09:57.760] [INFO] Thread is already completed.
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[2026-09-13 11:09:57.761] [INFO] lidar_type = mid360
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[2026-09-13 11:09:57.780] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
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[2026-09-13 11:10:12.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:80.6337 cpuTemp:61.8978 cpuMemory:32.2409 cpuFrequency:1510.4
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[2026-09-13 11:12:56.175] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:12:56.175] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:12:56.179] [INFO] Thread is still running...
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[2026-09-13 11:12:56.183] [INFO] lidar_type = mid360
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[2026-09-13 11:12:56.226] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
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[2026-09-13 11:12:57.985] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
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[2026-09-13 11:12:57.985] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
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[2026-09-13 11:12:58.015] [INFO] Thread is already completed.
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[2026-09-13 11:12:58.016] [INFO] lidar_type = mid360
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[2026-09-13 11:12:58.041] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
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[2026-09-13 11:14:41.395] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:14:41.395] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:14:41.397] [INFO] Thread is still running...
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[2026-09-13 11:14:41.425] [INFO] lidar_type = mid360
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[2026-09-13 11:14:41.459] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
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[2026-09-13 11:17:27.802] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:17:27.802] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:17:27.802] [INFO] Thread is already completed.
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[2026-09-13 11:17:27.802] [INFO] lidar_type = mid360
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[2026-09-13 11:17:27.851] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
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[2026-09-13 11:17:28.626] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:17:28.626] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:17:28.626] [INFO] Thread is already completed.
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[2026-09-13 11:17:28.627] [INFO] lidar_type = mid360
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[2026-09-13 11:17:28.661] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
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[2026-09-13 11:17:29.016] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:17:29.016] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:17:29.016] [INFO] Thread is already completed.
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[2026-09-13 11:17:29.017] [INFO] lidar_type = mid360
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[2026-09-13 11:17:29.040] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
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[2026-09-13 11:17:29.254] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:17:29.254] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:17:29.254] [INFO] Thread is already completed.
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[2026-09-13 11:17:29.255] [INFO] lidar_type = mid360
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[2026-09-13 11:17:29.272] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
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[2026-09-13 11:26:35.977] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
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[2026-09-13 11:26:35.977] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
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[2026-09-13 11:26:36.000] [INFO] Thread is already completed.
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[2026-09-13 11:26:36.001] [INFO] lidar_type = mid360
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[2026-09-13 11:26:36.018] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
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[2026-09-13 11:27:45.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:80.0465 cpuTemp:62.4997 cpuMemory:32.8114 cpuFrequency:1510.4
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[2026-09-13 11:28:38.263] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
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"data": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"q_w": 1.0,
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"address": "/home/unitree/test.pcd"
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}
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}
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[2026-09-13 11:28:38.263] [INFO] To pl relocation request: {
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"data": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"q_w": 1.0,
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"address": "/home/unitree/test.pcd"
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}
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}
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[2026-09-13 11:28:38.263] [INFO] Thread is still running...
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[2026-09-13 11:28:38.274] [INFO] lidar_type = mid360
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[2026-09-13 11:28:40.455] [INFO] ICP Score:0.323359
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[2026-09-13 11:28:40.479] [WARNING] Received pl relocation response (1): {"succeed":false,"errorCode":509,"info":"The current location matching degree is low (ICP).","data":{}}
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[2026-09-13 11:29:00.382] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:29:00.382] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:29:00.382] [INFO] Thread is already completed.
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[2026-09-13 11:29:00.383] [INFO] lidar_type = mid360
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[2026-09-13 11:29:00.407] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
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[2026-09-13 11:29:01.565] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
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[2026-09-13 11:29:01.565] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
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[2026-09-13 11:29:01.596] [INFO] Thread is already completed.
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[2026-09-13 11:29:01.596] [INFO] lidar_type = mid360
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[2026-09-13 11:29:01.617] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
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[2026-09-13 11:29:14.343] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
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"data": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"q_w": 1.0,
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"address": "/home/unitree/test.pcd"
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}
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}
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[2026-09-13 11:29:14.343] [INFO] To pl relocation request: {
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"data": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"q_w": 1.0,
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"address": "/home/unitree/test.pcd"
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}
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}
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[2026-09-13 11:29:14.343] [INFO] Thread is still running...
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[2026-09-13 11:29:14.355] [INFO] lidar_type = mid360
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[2026-09-13 11:29:16.466] [INFO] ICP Score:0.344314
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[2026-09-13 11:29:16.490] [WARNING] Received pl relocation response (1): {"succeed":false,"errorCode":509,"info":"The current location matching degree is low (ICP).","data":{}}
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[2026-09-13 11:29:42.229] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:29:42.229] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:29:42.229] [INFO] Thread is already completed.
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[2026-09-13 11:29:42.230] [INFO] lidar_type = mid360
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[2026-09-13 11:29:42.258] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
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[2026-09-13 11:29:42.910] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
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"data": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"q_w": 1.0,
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"address": "/home/unitree/test.pcd"
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}
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}
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[2026-09-13 11:29:42.910] [INFO] To pl relocation request: {
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"data": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"q_w": 1.0,
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"address": "/home/unitree/test.pcd"
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}
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}
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[2026-09-13 11:29:42.910] [INFO] Thread is already completed.
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[2026-09-13 11:29:42.911] [INFO] lidar_type = mid360
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[2026-09-13 11:29:45.199] [INFO] ICP Score:0.306283
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[2026-09-13 11:29:45.223] [WARNING] Received pl relocation response (1): {"succeed":false,"errorCode":509,"info":"The current location matching degree is low (ICP).","data":{}}
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[2026-09-13 11:29:49.730] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
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[2026-09-13 11:29:49.730] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
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[2026-09-13 11:29:49.756] [INFO] Thread is already completed.
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[2026-09-13 11:29:49.756] [INFO] lidar_type = mid360
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[2026-09-13 11:29:49.780] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
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[2026-09-13 11:30:58.452] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:30:58.452] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
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[2026-09-13 11:30:58.454] [INFO] Thread is still running...
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[2026-09-13 11:30:58.472] [INFO] lidar_type = mid360
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[2026-09-13 11:30:58.502] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
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[2026-09-13 11:31:22.308] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
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"data": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"q_w": 1.0,
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"address": "/home/unitree/test.pcd"
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}
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}
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[2026-09-13 11:31:22.308] [INFO] To pl relocation request: {
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"data": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"q_w": 1.0,
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"address": "/home/unitree/test.pcd"
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}
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}
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[2026-09-13 11:31:22.308] [INFO] Thread is already completed.
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[2026-09-13 11:31:22.309] [INFO] lidar_type = mid360
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[2026-09-13 11:31:23.666] [INFO] ICP Score:0.00424654
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[2026-09-13 11:31:23.714] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
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[2026-09-13 11:31:27.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.4241 cpuTemp:62.5465 cpuMemory:33.3376 cpuFrequency:1510.4
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[2026-09-13 11:31:30.486] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
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"data": {
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"mode": 1,
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"speed": 0.800000011920929,
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"targetPose": {
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"q_w": 1.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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}
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}
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}
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[2026-09-13 11:31:30.486] [INFO] To get pl status.
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[2026-09-13 11:31:30.486] [INFO] Received pl status: {"type":"pos_info","sec":1789270290,"nanosec":486232706,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.24033047922280032,"y":-0.00966941126703084,"z":0.019341724629243353,"q_w":0.9925492531080841,"q_x":-0.016361440141129033,"q_y":0.11946421604106053,"q_z":-0.01750955501398227},"pcdName":"test","address":"/home/unitree/test.pcd"}}
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[2026-09-13 11:31:30.486] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.24033047922280032,"y":-0.00966941126703084,"z":0.019341724629243353,"q_w":0.992549253108084,"q_x":-0.016361440141129033,"q_y":0.11946421604106051,"q_z":-0.01750955501398227},"pcdName":"/home/unitree/test.pcd"}}
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[2026-09-13 11:31:30.487] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
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[2026-09-13 11:31:30.487] [INFO] Received graph response: slices size (1)
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[2026-09-13 11:31:30.487] [INFO] task mode (Normal) edges size (1) nodes size (2)
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[2026-09-13 11:31:30.487] [INFO] edge(0) name:9999
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[2026-09-13 11:31:30.487] [INFO] node(0) name:8888
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[2026-09-13 11:31:30.487] [INFO] node(1) name:9999
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[2026-09-13 11:31:30.488] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
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[2026-09-13 11:31:30.488] [INFO] edge(0) name:9999
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[2026-09-13 11:31:30.488] [INFO] node(0) name:8888
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[2026-09-13 11:31:30.488] [INFO] node(1) name:9999
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[2026-09-13 11:31:30.488] [INFO] Start control:
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[2026-09-13 11:31:30.488] [INFO] Use normal control
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[2026-09-13 11:31:30.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.2056 cpuTemp:62.6637 cpuMemory:33.3624 cpuFrequency:1510.4
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[2026-09-13 11:31:31.893] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
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"data": {
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"mode": 1,
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"speed": 0.800000011920929,
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"targetPose": {
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"q_w": 1.0,
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"q_x": 0.0,
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"q_y": 0.0,
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"q_z": 0.0,
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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}
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}
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}
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[2026-09-13 11:31:31.893] [INFO] To get pl status.
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[2026-09-13 11:31:31.893] [INFO] Received pl status: {"type":"pos_info","sec":1789270291,"nanosec":893654886,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09635346789661614,"y":-0.0033233021371036815,"z":-0.002604191339107792,"q_w":0.9949252357233581,"q_x":-0.002869947285174664,"q_y":0.10052328150665332,"q_z":0.003257084361028201},"pcdName":"test","address":"/home/unitree/test.pcd"}}
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[2026-09-13 11:31:31.893] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09635346789661614,"y":-0.0033233021371036815,"z":-0.002604191339107792,"q_w":0.994925235723358,"q_x":-0.002869947285174664,"q_y":0.10052328150665332,"q_z":0.003257084361028201},"pcdName":"/home/unitree/test.pcd"}}
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[2026-09-13 11:31:31.893] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
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[2026-09-13 11:31:31.893] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:31.893] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:31.893] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:31.893] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:31.893] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:31.893] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:31.995] [INFO] Control end.
|
|
[2026-09-13 11:31:31.995] [INFO] Pub slam key info: {"type":"task_result","sec":1789270291,"nanosec":995175795,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:32.908] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:32.908] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:32.908] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:32.908] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:32.908] [INFO] Start control:
|
|
[2026-09-13 11:31:32.908] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:32.908] [INFO] To get pl status.
|
|
[2026-09-13 11:31:32.908] [INFO] Use normal control
|
|
[2026-09-13 11:31:32.908] [INFO] Received pl status: {"type":"pos_info","sec":1789270292,"nanosec":908819078,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.1061152177185515,"y":0.010669149042986974,"z":0.013685751090791084,"q_w":0.9922211216267912,"q_x":-0.025424243594713035,"q_y":0.12128191009915366,"q_z":0.011897559329967668},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:32.908] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.1061152177185515,"y":0.010669149042986974,"z":0.013685751090791084,"q_w":0.9922211216267912,"q_x":-0.025424243594713035,"q_y":0.12128191009915366,"q_z":0.011897559329967668},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:32.909] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:32.909] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:32.909] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:32.909] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:32.910] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:32.910] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:32.910] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:33.017] [INFO] Control end.
|
|
[2026-09-13 11:31:33.018] [INFO] Pub slam key info: {"type":"task_result","sec":1789270293,"nanosec":18006612,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:33.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.1214 cpuTemp:62.7417 cpuMemory:33.451 cpuFrequency:1510.4
|
|
[2026-09-13 11:31:33.924] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:33.924] [INFO] To get pl status.
|
|
[2026-09-13 11:31:33.924] [INFO] Received pl status: {"type":"pos_info","sec":1789270293,"nanosec":924589786,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08992103246166973,"y":0.0030861834523992823,"z":0.021170496084238412,"q_w":0.9922637728945795,"q_x":-0.015971525356223887,"q_y":0.12267326901912877,"q_z":0.010429978282357803},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:33.924] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08992103246166973,"y":0.0030861834523992823,"z":0.021170496084238412,"q_w":0.9922637728945796,"q_x":-0.015971525356223887,"q_y":0.12267326901912876,"q_z":0.010429978282357803},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:33.925] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:33.925] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:33.925] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:33.925] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:33.925] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:33.925] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:33.925] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:33.937] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:33.937] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:33.947] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:33.947] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:33.947] [INFO] Start control:
|
|
[2026-09-13 11:31:33.947] [INFO] Control end.
|
|
[2026-09-13 11:31:33.947] [INFO] Pub slam key info: {"type":"task_result","sec":1789270293,"nanosec":947629343,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:33.968] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:33.968] [INFO] To get pl status.
|
|
[2026-09-13 11:31:33.968] [INFO] Received pl status: {"type":"pos_info","sec":1789270293,"nanosec":968607582,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09166281759148202,"y":0.0039012256259956034,"z":0.01984800834568497,"q_w":0.992296883159261,"q_x":-0.015960875933309953,"q_y":0.1223544852331355,"q_z":0.011023885666680415},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:33.968] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09166281759148202,"y":0.0039012256259956034,"z":0.01984800834568497,"q_w":0.992296883159261,"q_x":-0.015960875933309953,"q_y":0.1223544852331355,"q_z":0.011023885666680416},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:33.968] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:33.968] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:33.968] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:33.968] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:33.968] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:33.968] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:33.968] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:33.975] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:33.975] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:33.975] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:33.975] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:33.975] [INFO] Start control:
|
|
[2026-09-13 11:31:33.975] [INFO] Control end.
|
|
[2026-09-13 11:31:33.975] [INFO] Pub slam key info: {"type":"task_result","sec":1789270293,"nanosec":975437955,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:33.996] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:33.996] [INFO] To get pl status.
|
|
[2026-09-13 11:31:33.996] [INFO] Received pl status: {"type":"pos_info","sec":1789270293,"nanosec":996369250,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09246876696748321,"y":0.00374923661826701,"z":0.019465474452150595,"q_w":0.9922886725573073,"q_x":-0.016195189601311444,"q_y":0.12238786941540489,"q_z":0.011050591305103078},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:33.996] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0924687669674832,"y":0.00374923661826701,"z":0.019465474452150595,"q_w":0.9922886725573072,"q_x":-0.016195189601311444,"q_y":0.12238786941540487,"q_z":0.011050591305103078},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:33.996] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:33.996] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:33.996] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:33.996] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:33.996] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:33.996] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:33.996] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:34.001] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:34.001] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:34.001] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:34.001] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:34.001] [INFO] Start control:
|
|
[2026-09-13 11:31:34.001] [INFO] Control end.
|
|
[2026-09-13 11:31:34.001] [INFO] Pub slam key info: {"type":"task_result","sec":1789270294,"nanosec":1600849,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:34.022] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:34.022] [INFO] To get pl status.
|
|
[2026-09-13 11:31:34.022] [INFO] Received pl status: {"type":"pos_info","sec":1789270294,"nanosec":22736566,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0937578046590986,"y":0.0036720875722265393,"z":0.01833191089836854,"q_w":0.9922407432398208,"q_x":-0.016792043075636642,"q_y":0.1226886486356084,"q_z":0.011127903675097165},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:34.022] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0937578046590986,"y":0.0036720875722265393,"z":0.01833191089836854,"q_w":0.9922407432398208,"q_x":-0.016792043075636642,"q_y":0.1226886486356084,"q_z":0.011127903675097164},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:34.023] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:34.023] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:34.023] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:34.023] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:34.023] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:34.023] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:34.023] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:34.035] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:34.035] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:34.035] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:34.035] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:34.035] [INFO] Start control:
|
|
[2026-09-13 11:31:34.035] [INFO] Control end.
|
|
[2026-09-13 11:31:34.035] [INFO] Pub slam key info: {"type":"task_result","sec":1789270294,"nanosec":35519427,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:34.056] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:34.056] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:34.056] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:34.056] [INFO] To get pl status.
|
|
[2026-09-13 11:31:34.056] [INFO] Received pl status: {"type":"pos_info","sec":1789270294,"nanosec":56441344,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09429696982647495,"y":0.004137426573217686,"z":0.019380516456628596,"q_w":0.9923329138988898,"q_x":-0.01650137470580159,"q_y":0.12201731679259267,"q_z":0.010717603673083763},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:34.056] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09429696982647497,"y":0.004137426573217686,"z":0.019380516456628596,"q_w":0.9923329138988898,"q_x":-0.01650137470580159,"q_y":0.12201731679259269,"q_z":0.010717603673083763},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:34.056] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:34.056] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:34.056] [INFO] Start control:
|
|
[2026-09-13 11:31:34.056] [INFO] Use normal control
|
|
[2026-09-13 11:31:34.056] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:34.056] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:34.056] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:34.056] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:34.056] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:34.056] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:34.056] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:34.165] [INFO] Control end.
|
|
[2026-09-13 11:31:34.165] [INFO] Pub slam key info: {"type":"task_result","sec":1789270294,"nanosec":165441960,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:35.072] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:35.072] [INFO] To get pl status.
|
|
[2026-09-13 11:31:35.072] [INFO] Received pl status: {"type":"pos_info","sec":1789270295,"nanosec":72763143,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10225394037593474,"y":0.006176393108870125,"z":0.018117829392475502,"q_w":0.9922877991987853,"q_x":-0.01778273730539309,"q_y":0.12238450021914521,"q_z":0.008410227182947285},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:35.072] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10225394037593474,"y":0.006176393108870125,"z":0.018117829392475505,"q_w":0.9922877991987852,"q_x":-0.01778273730539309,"q_y":0.1223845002191452,"q_z":0.008410227182947285},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:35.073] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:35.073] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:35.073] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:35.073] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:35.073] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:35.073] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:35.073] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:35.077] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:35.077] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:35.077] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:35.078] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:35.078] [INFO] Start control:
|
|
[2026-09-13 11:31:35.078] [INFO] Control end.
|
|
[2026-09-13 11:31:35.078] [INFO] Pub slam key info: {"type":"task_result","sec":1789270295,"nanosec":78480871,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:35.099] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:35.099] [INFO] To get pl status.
|
|
[2026-09-13 11:31:35.099] [INFO] Received pl status: {"type":"pos_info","sec":1789270295,"nanosec":99507208,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10291201755534543,"y":0.006100781468738004,"z":0.01774220591795924,"q_w":0.9922935562189031,"q_x":-0.017626986720407793,"q_y":0.12238091182136684,"q_z":0.008105556573862846},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:35.099] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10291201755534544,"y":0.006100781468738004,"z":0.01774220591795924,"q_w":0.9922935562189032,"q_x":-0.017626986720407793,"q_y":0.12238091182136684,"q_z":0.008105556573862846},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:35.099] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:35.099] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:35.099] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:35.099] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:35.099] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:35.099] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:35.099] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:35.100] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:35.101] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:35.101] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:35.111] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:35.111] [INFO] Start control:
|
|
[2026-09-13 11:31:35.111] [INFO] Control end.
|
|
[2026-09-13 11:31:35.111] [INFO] Pub slam key info: {"type":"task_result","sec":1789270295,"nanosec":111441784,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:35.131] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:35.131] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:35.131] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:35.132] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:35.132] [INFO] Start control:
|
|
[2026-09-13 11:31:35.132] [INFO] Use normal control
|
|
[2026-09-13 11:31:35.132] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:35.132] [INFO] To get pl status.
|
|
[2026-09-13 11:31:35.132] [INFO] Received pl status: {"type":"pos_info","sec":1789270295,"nanosec":132422008,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10342577335103001,"y":0.006037737422248303,"z":0.017528167653692774,"q_w":0.9922791721466682,"q_x":-0.017595044746441572,"q_y":0.12249923213524214,"q_z":0.008148438535673598},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:35.132] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10342577335103,"y":0.006037737422248303,"z":0.017528167653692774,"q_w":0.9922791721466682,"q_x":-0.017595044746441572,"q_y":0.12249923213524214,"q_z":0.008148438535673598},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:35.132] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:35.132] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:35.132] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:35.132] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:35.132] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:35.132] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:35.132] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:35.242] [INFO] Control end.
|
|
[2026-09-13 11:31:35.242] [INFO] Pub slam key info: {"type":"task_result","sec":1789270295,"nanosec":242271228,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:36.150] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:36.150] [INFO] To get pl status.
|
|
[2026-09-13 11:31:36.150] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":150884742,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09093548534945203,"y":0.004893129555252291,"z":0.021334407689251003,"q_w":0.9919686036698003,"q_x":-0.01563953443420909,"q_y":0.12528458372995818,"q_z":0.007580723954816519},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.150] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09093548534945203,"y":0.004893129555252291,"z":0.021334407689251003,"q_w":0.9919686036698004,"q_x":-0.01563953443420909,"q_y":0.12528458372995818,"q_z":0.007580723954816519},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.151] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:36.151] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:36.151] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.151] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.151] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.151] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.152] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:36.159] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.159] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.159] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.159] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.159] [INFO] Start control:
|
|
[2026-09-13 11:31:36.159] [INFO] Control end.
|
|
[2026-09-13 11:31:36.159] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":159614955,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:36.184] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:36.184] [INFO] To get pl status.
|
|
[2026-09-13 11:31:36.184] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":184404875,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09190409123957177,"y":0.005998862520613372,"z":0.021384699695289822,"q_w":0.9919550572130943,"q_x":-0.015399196410224468,"q_y":0.1254452916546105,"q_z":0.00717690887333502},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.184] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09190409123957176,"y":0.005998862520613372,"z":0.021384699695289822,"q_w":0.9919550572130944,"q_x":-0.015399196410224468,"q_y":0.1254452916546105,"q_z":0.00717690887333502},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.184] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:36.184] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:36.184] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.184] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.184] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.184] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.185] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:36.187] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.187] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.187] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.187] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.187] [INFO] Start control:
|
|
[2026-09-13 11:31:36.187] [INFO] Control end.
|
|
[2026-09-13 11:31:36.188] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":187541876,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:36.209] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:36.209] [INFO] To get pl status.
|
|
[2026-09-13 11:31:36.209] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":209768317,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09282321046901124,"y":0.005589187184819042,"z":0.021799863339892773,"q_w":0.991956917427867,"q_x":-0.015282172671866249,"q_y":0.12545008399562213,"q_z":0.007085590372213052},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.209] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09282321046901124,"y":0.005589187184819042,"z":0.021799863339892773,"q_w":0.991956917427867,"q_x":-0.015282172671866249,"q_y":0.12545008399562213,"q_z":0.007085590372213052},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.210] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:36.210] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:36.210] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.210] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.210] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.210] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.210] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:36.214] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.214] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.214] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.214] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.214] [INFO] Start control:
|
|
[2026-09-13 11:31:36.215] [INFO] Control end.
|
|
[2026-09-13 11:31:36.217] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":215222580,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:36.238] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:36.238] [INFO] To get pl status.
|
|
[2026-09-13 11:31:36.238] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":238164054,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09303367709235537,"y":0.0058597781675856905,"z":0.02193636076600939,"q_w":0.9919100305793593,"q_x":-0.015684429039124224,"q_y":0.12576044779282364,"q_z":0.007266339705774747},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.238] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09303367709235535,"y":0.0058597781675856905,"z":0.02193636076600939,"q_w":0.9919100305793592,"q_x":-0.015684429039124224,"q_y":0.12576044779282364,"q_z":0.007266339705774747},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.238] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:36.238] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:36.238] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.238] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.238] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.238] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.238] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.238] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:36.238] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.239] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.239] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.239] [INFO] Start control:
|
|
[2026-09-13 11:31:36.239] [INFO] Control end.
|
|
[2026-09-13 11:31:36.240] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":239733994,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:36.260] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:36.260] [INFO] To get pl status.
|
|
[2026-09-13 11:31:36.260] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":260752235,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09391195032499912,"y":0.005987122330440833,"z":0.021771012192432188,"q_w":0.9919428564073083,"q_x":-0.015400733921915669,"q_y":0.12553903189597831,"q_z":0.007220698567126695},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.260] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09391195032499912,"y":0.005987122330440833,"z":0.021771012192432188,"q_w":0.9919428564073084,"q_x":-0.015400733921915669,"q_y":0.12553903189597831,"q_z":0.007220698567126695},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.261] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:36.261] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:36.261] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.261] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.261] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.261] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.261] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:36.268] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.269] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.271] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.271] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.271] [INFO] Start control:
|
|
[2026-09-13 11:31:36.272] [INFO] Control end.
|
|
[2026-09-13 11:31:36.272] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":272063527,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:36.294] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:36.294] [INFO] To get pl status.
|
|
[2026-09-13 11:31:36.294] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":294312529,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09387023423971348,"y":0.005954754898002753,"z":0.021999296319911977,"q_w":0.9919491538645562,"q_x":-0.015300645640110595,"q_y":0.1255258356655189,"q_z":0.006784612801032172},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.294] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09387023423971348,"y":0.005954754898002753,"z":0.021999296319911977,"q_w":0.9919491538645562,"q_x":-0.015300645640110596,"q_y":0.1255258356655189,"q_z":0.006784612801032172},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.294] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:36.294] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:36.294] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.294] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.294] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.294] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.294] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:36.295] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.296] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.296] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.296] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.296] [INFO] Start control:
|
|
[2026-09-13 11:31:36.297] [INFO] Control end.
|
|
[2026-09-13 11:31:36.297] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":297132111,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:36.317] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:36.317] [INFO] To get pl status.
|
|
[2026-09-13 11:31:36.317] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":317964618,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09371648471471719,"y":0.005604590162931666,"z":0.022050625462013602,"q_w":0.9919103157326694,"q_x":-0.01601689867300068,"q_y":0.12575784107229995,"q_z":0.0065076807580898436},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.318] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0937164847147172,"y":0.005604590162931666,"z":0.0220506254620136,"q_w":0.9919103157326694,"q_x":-0.01601689867300068,"q_y":0.12575784107229995,"q_z":0.0065076807580898436},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.318] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:36.318] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:36.318] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.318] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.318] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.318] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.318] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:36.323] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.323] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.323] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.323] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.323] [INFO] Start control:
|
|
[2026-09-13 11:31:36.323] [INFO] Control end.
|
|
[2026-09-13 11:31:36.323] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":323571718,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:36.344] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.344] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.344] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.344] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.344] [INFO] Start control:
|
|
[2026-09-13 11:31:36.344] [INFO] Use normal control
|
|
[2026-09-13 11:31:36.357] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:36.357] [INFO] To get pl status.
|
|
[2026-09-13 11:31:36.357] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":357318770,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.094927684062481,"y":0.006166062014277514,"z":0.021922085620388596,"q_w":0.9918854232757432,"q_x":-0.016220908388797937,"q_y":0.12591751296475182,"q_z":0.006705904332268748},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.357] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.094927684062481,"y":0.006166062014277514,"z":0.021922085620388596,"q_w":0.9918854232757432,"q_x":-0.016220908388797937,"q_y":0.12591751296475182,"q_z":0.006705904332268748},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:36.357] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:36.357] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:36.357] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:36.357] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:36.358] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:36.358] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:36.358] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:36.452] [INFO] Control end.
|
|
[2026-09-13 11:31:36.452] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":452185568,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:36.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.7847 cpuTemp:62.867 cpuMemory:33.3725 cpuFrequency:1510.4
|
|
[2026-09-13 11:31:37.371] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:37.371] [INFO] To get pl status.
|
|
[2026-09-13 11:31:37.371] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":371060994,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09983126780214036,"y":0.006423349741524531,"z":0.022219679896372413,"q_w":0.9918481617124258,"q_x":-0.016106341386776624,"q_y":0.12625388288013847,"q_z":0.0061454806567626235},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.371] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09983126780214036,"y":0.006423349741524531,"z":0.022219679896372413,"q_w":0.9918481617124258,"q_x":-0.016106341386776624,"q_y":0.12625388288013847,"q_z":0.0061454806567626235},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.371] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:37.371] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:37.371] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.371] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.371] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.371] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.371] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:37.379] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.379] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.379] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.379] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.379] [INFO] Start control:
|
|
[2026-09-13 11:31:37.379] [INFO] Control end.
|
|
[2026-09-13 11:31:37.379] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":379477853,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:37.400] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:37.400] [INFO] To get pl status.
|
|
[2026-09-13 11:31:37.400] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":400317655,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09951969487392806,"y":0.005113615244678937,"z":0.02179737882563593,"q_w":0.9919121860783645,"q_x":-0.016111677770364544,"q_y":0.12575993942633915,"q_z":0.005921704496810171},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.400] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09951969487392806,"y":0.005113615244678937,"z":0.02179737882563593,"q_w":0.9919121860783644,"q_x":-0.016111677770364544,"q_y":0.12575993942633917,"q_z":0.005921704496810171},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.400] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:37.400] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:37.400] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.400] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.400] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.400] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.400] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:37.409] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.412] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.412] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.412] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.412] [INFO] Start control:
|
|
[2026-09-13 11:31:37.412] [INFO] Control end.
|
|
[2026-09-13 11:31:37.413] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":412654229,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:37.433] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:37.433] [INFO] To get pl status.
|
|
[2026-09-13 11:31:37.433] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":433679158,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0984541741167511,"y":0.0037546224175249252,"z":0.02120349539856356,"q_w":0.9918961905745247,"q_x":-0.016505127029498707,"q_y":0.1258427455154284,"q_z":0.005755980075154673},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.433] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0984541741167511,"y":0.003754622417524925,"z":0.02120349539856356,"q_w":0.9918961905745248,"q_x":-0.016505127029498707,"q_y":0.1258427455154284,"q_z":0.005755980075154673},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.433] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:37.433] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:37.433] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.433] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.433] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.433] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.433] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:37.436] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.437] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.437] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.437] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.437] [INFO] Start control:
|
|
[2026-09-13 11:31:37.437] [INFO] Control end.
|
|
[2026-09-13 11:31:37.441] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":437719678,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:37.462] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:37.462] [INFO] To get pl status.
|
|
[2026-09-13 11:31:37.462] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":462053326,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0987735121579791,"y":0.004042363522460975,"z":0.021371253738843972,"q_w":0.9918875215464422,"q_x":-0.016270785706396118,"q_y":0.12591956188397077,"q_z":0.006218526184041896},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.462] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0987735121579791,"y":0.004042363522460975,"z":0.021371253738843972,"q_w":0.9918875215464422,"q_x":-0.016270785706396118,"q_y":0.12591956188397077,"q_z":0.006218526184041896},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.462] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:37.462] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:37.462] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.462] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.462] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.462] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.462] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:37.463] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.463] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.463] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.463] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.463] [INFO] Start control:
|
|
[2026-09-13 11:31:37.464] [INFO] Control end.
|
|
[2026-09-13 11:31:37.479] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":464025904,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:37.515] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.515] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.515] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.515] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.515] [INFO] Start control:
|
|
[2026-09-13 11:31:37.515] [INFO] Use normal control
|
|
[2026-09-13 11:31:37.526] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:37.526] [INFO] To get pl status.
|
|
[2026-09-13 11:31:37.526] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":526902957,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09806363830476879,"y":0.004439619137383899,"z":0.021930532821955222,"q_w":0.9918738725457431,"q_x":-0.016019980358137082,"q_y":0.12607391813861277,"q_z":0.005911713424559249},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.526] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0980636383047688,"y":0.004439619137383899,"z":0.021930532821955225,"q_w":0.9918738725457432,"q_x":-0.016019980358137082,"q_y":0.12607391813861277,"q_z":0.005911713424559249},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:37.527] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:37.527] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:37.527] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:37.527] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:37.527] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:37.527] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:37.527] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:37.620] [INFO] Control end.
|
|
[2026-09-13 11:31:37.620] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":620302058,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:38.539] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:38.539] [INFO] To get pl status.
|
|
[2026-09-13 11:31:38.539] [INFO] Received pl status: {"type":"pos_info","sec":1789270298,"nanosec":539898468,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09902910655040076,"y":0.005864668842780783,"z":0.022009496238355613,"q_w":0.9918808449115077,"q_x":-0.01586941906227609,"q_y":0.12604041517276932,"q_z":0.005862148013786288},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.539] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09902910655040076,"y":0.005864668842780783,"z":0.022009496238355613,"q_w":0.9918808449115076,"q_x":-0.01586941906227609,"q_y":0.12604041517276932,"q_z":0.005862148013786288},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.540] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:38.540] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:38.540] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.540] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.540] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.540] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.540] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:38.544] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.545] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.545] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.545] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.545] [INFO] Start control:
|
|
[2026-09-13 11:31:38.545] [INFO] Control end.
|
|
[2026-09-13 11:31:38.545] [INFO] Pub slam key info: {"type":"task_result","sec":1789270298,"nanosec":545440702,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:38.566] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.566] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:38.566] [INFO] To get pl status.
|
|
[2026-09-13 11:31:38.566] [INFO] Received pl status: {"type":"pos_info","sec":1789270298,"nanosec":566553314,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09848175137943128,"y":0.006890504690955861,"z":0.02151531352273433,"q_w":0.9918974770958773,"q_x":-0.01607698099551844,"q_y":0.12588226923325374,"q_z":0.005880468143774091},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.566] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09848175137943128,"y":0.006890504690955861,"z":0.02151531352273433,"q_w":0.9918974770958772,"q_x":-0.01607698099551844,"q_y":0.12588226923325374,"q_z":0.005880468143774091},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.566] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:38.566] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:38.566] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.566] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.566] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.566] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.566] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:38.567] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.574] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.574] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.574] [INFO] Start control:
|
|
[2026-09-13 11:31:38.574] [INFO] Control end.
|
|
[2026-09-13 11:31:38.575] [INFO] Pub slam key info: {"type":"task_result","sec":1789270298,"nanosec":574540142,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:38.596] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:38.596] [INFO] To get pl status.
|
|
[2026-09-13 11:31:38.596] [INFO] Received pl status: {"type":"pos_info","sec":1789270298,"nanosec":596114754,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09793591556676597,"y":0.007492343951075497,"z":0.01973767283281077,"q_w":0.9919459713216724,"q_x":-0.016036253916071583,"q_y":0.12552051025670502,"q_z":0.005534441610466382},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.596] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09793591556676597,"y":0.007492343951075497,"z":0.01973767283281077,"q_w":0.9919459713216724,"q_x":-0.016036253916071583,"q_y":0.12552051025670502,"q_z":0.005534441610466382},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.596] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:38.596] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:38.596] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.596] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.596] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.596] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.596] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:38.596] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.597] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.597] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.597] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.597] [INFO] Start control:
|
|
[2026-09-13 11:31:38.598] [INFO] Control end.
|
|
[2026-09-13 11:31:38.598] [INFO] Pub slam key info: {"type":"task_result","sec":1789270298,"nanosec":598115813,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:38.619] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:38.619] [INFO] To get pl status.
|
|
[2026-09-13 11:31:38.619] [INFO] Received pl status: {"type":"pos_info","sec":1789270298,"nanosec":619212648,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09761287508028489,"y":0.006510453757374054,"z":0.01959803603118598,"q_w":0.9919486402005978,"q_x":-0.01607120963798114,"q_y":0.1254675789754802,"q_z":0.0061235652187999505},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.619] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09761287508028488,"y":0.006510453757374054,"z":0.01959803603118598,"q_w":0.9919486402005978,"q_x":-0.01607120963798114,"q_y":0.1254675789754802,"q_z":0.0061235652187999505},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.619] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:38.619] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:38.619] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.619] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.619] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.619] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.620] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:38.629] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.629] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.629] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.629] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.629] [INFO] Start control:
|
|
[2026-09-13 11:31:38.629] [INFO] Control end.
|
|
[2026-09-13 11:31:38.629] [INFO] Pub slam key info: {"type":"task_result","sec":1789270298,"nanosec":629241177,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:38.658] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.658] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.658] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.658] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.658] [INFO] Start control:
|
|
[2026-09-13 11:31:38.658] [INFO] Use normal control
|
|
[2026-09-13 11:31:38.695] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:38.696] [INFO] To get pl status.
|
|
[2026-09-13 11:31:38.696] [INFO] Received pl status: {"type":"pos_info","sec":1789270298,"nanosec":696054234,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0993738363688226,"y":0.007608993042157624,"z":0.019672359063726483,"q_w":0.9919120657711422,"q_x":-0.016023173523847342,"q_y":0.12577310849107357,"q_z":0.005902276538972756},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.696] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0993738363688226,"y":0.007608993042157624,"z":0.019672359063726483,"q_w":0.9919120657711422,"q_x":-0.016023173523847342,"q_y":0.12577310849107357,"q_z":0.005902276538972756},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:38.696] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:38.696] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:38.696] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:38.696] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:38.696] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:38.696] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:38.696] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:38.762] [INFO] Control end.
|
|
[2026-09-13 11:31:38.763] [INFO] Pub slam key info: {"type":"task_result","sec":1789270298,"nanosec":763020416,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:39.536] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4793 cpuTemp:62.9528 cpuMemory:33.3687 cpuFrequency:1510.4
|
|
[2026-09-13 11:31:39.709] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:39.709] [INFO] To get pl status.
|
|
[2026-09-13 11:31:39.709] [INFO] Received pl status: {"type":"pos_info","sec":1789270299,"nanosec":709285721,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09798059674178261,"y":0.006987649604236888,"z":0.021537315584928954,"q_w":0.9919690787094919,"q_x":-0.015658603233367013,"q_y":0.12535873174973214,"q_z":0.006110924898947619},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:39.709] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0979805967417826,"y":0.006987649604236888,"z":0.02153731558492895,"q_w":0.991969078709492,"q_x":-0.015658603233367013,"q_y":0.12535873174973214,"q_z":0.006110924898947619},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:39.709] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:39.709] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:39.709] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:39.709] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:39.709] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:39.709] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:39.709] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:39.716] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:39.716] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:39.716] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:39.717] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:39.717] [INFO] Start control:
|
|
[2026-09-13 11:31:39.717] [INFO] Control end.
|
|
[2026-09-13 11:31:39.717] [INFO] Pub slam key info: {"type":"task_result","sec":1789270299,"nanosec":717524557,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:39.738] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:39.738] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:39.738] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:39.738] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:39.738] [INFO] Start control:
|
|
[2026-09-13 11:31:39.738] [INFO] Use normal control
|
|
[2026-09-13 11:31:39.738] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:39.738] [INFO] To get pl status.
|
|
[2026-09-13 11:31:39.738] [INFO] Received pl status: {"type":"pos_info","sec":1789270299,"nanosec":738374184,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09900639034779969,"y":0.006054585771040692,"z":0.02129494672299263,"q_w":0.9919355307350641,"q_x":-0.015578325149024169,"q_y":0.1256397436728655,"q_z":0.005989445776945213},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:39.738] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09900639034779968,"y":0.006054585771040692,"z":0.02129494672299263,"q_w":0.991935530735064,"q_x":-0.015578325149024169,"q_y":0.1256397436728655,"q_z":0.005989445776945213},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:39.739] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:39.739] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:39.739] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:39.739] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:39.739] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:39.739] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:39.739] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:39.848] [INFO] Control end.
|
|
[2026-09-13 11:31:39.848] [INFO] Pub slam key info: {"type":"task_result","sec":1789270299,"nanosec":848116233,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:40.752] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:40.752] [INFO] To get pl status.
|
|
[2026-09-13 11:31:40.752] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":752685163,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09594858222100146,"y":0.006675370632754842,"z":0.01748130654695579,"q_w":0.9920136985957922,"q_x":-0.016183531616597913,"q_y":0.12493470539680661,"q_z":0.006183404412174051},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.752] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09594858222100146,"y":0.006675370632754842,"z":0.01748130654695579,"q_w":0.9920136985957922,"q_x":-0.016183531616597913,"q_y":0.1249347053968066,"q_z":0.006183404412174051},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.752] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:40.752] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:40.752] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.752] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.752] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.752] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.752] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:40.755] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.755] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.755] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.755] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.755] [INFO] Start control:
|
|
[2026-09-13 11:31:40.755] [INFO] Control end.
|
|
[2026-09-13 11:31:40.756] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":755610798,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:40.779] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:40.779] [INFO] To get pl status.
|
|
[2026-09-13 11:31:40.779] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":779830874,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09631894441134001,"y":0.006162380904204793,"z":0.017426649260346906,"q_w":0.9920249439545208,"q_x":-0.015806333239953643,"q_y":0.12488016762885196,"q_z":0.006450901838290774},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.779] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09631894441134,"y":0.006162380904204793,"z":0.017426649260346906,"q_w":0.9920249439545208,"q_x":-0.015806333239953643,"q_y":0.12488016762885196,"q_z":0.006450901838290774},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.780] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:40.780] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:40.780] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.780] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.780] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.780] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.780] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:40.785] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.785] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.785] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.785] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.785] [INFO] Start control:
|
|
[2026-09-13 11:31:40.786] [INFO] Control end.
|
|
[2026-09-13 11:31:40.787] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":786566716,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:40.808] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:40.808] [INFO] To get pl status.
|
|
[2026-09-13 11:31:40.809] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":808973931,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0973505463741646,"y":0.0070919251995870515,"z":0.017271317802018488,"q_w":0.9920301586702418,"q_x":-0.015397573126572335,"q_y":0.12490261494805367,"q_z":0.006198048857925471},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.809] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0973505463741646,"y":0.0070919251995870515,"z":0.017271317802018488,"q_w":0.9920301586702418,"q_x":-0.015397573126572335,"q_y":0.12490261494805369,"q_z":0.006198048857925471},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.809] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:40.809] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:40.809] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.809] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.809] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.809] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.809] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:40.818] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.818] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.818] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.818] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.818] [INFO] Start control:
|
|
[2026-09-13 11:31:40.818] [INFO] Control end.
|
|
[2026-09-13 11:31:40.819] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":818761428,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:40.839] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:40.839] [INFO] To get pl status.
|
|
[2026-09-13 11:31:40.839] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":839648624,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09723960452687921,"y":0.007040811088562401,"z":0.018129113656240356,"q_w":0.9920537664617755,"q_x":-0.015075676964279154,"q_y":0.12475108104960583,"q_z":0.006262283132262164},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.839] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0972396045268792,"y":0.007040811088562401,"z":0.018129113656240356,"q_w":0.9920537664617756,"q_x":-0.015075676964279154,"q_y":0.12475108104960583,"q_z":0.006262283132262164},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.839] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:40.839] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:40.839] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.839] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.839] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.839] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.839] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:40.846] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.846] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.846] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.846] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.846] [INFO] Start control:
|
|
[2026-09-13 11:31:40.846] [INFO] Control end.
|
|
[2026-09-13 11:31:40.847] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":846641147,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:40.867] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.867] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.867] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.867] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.867] [INFO] Start control:
|
|
[2026-09-13 11:31:40.867] [INFO] Use normal control
|
|
[2026-09-13 11:31:40.867] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:40.867] [INFO] To get pl status.
|
|
[2026-09-13 11:31:40.868] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":868069161,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0982079077649131,"y":0.006414025996142399,"z":0.01872465000174346,"q_w":0.9920298561921708,"q_x":-0.015578386100669424,"q_y":0.12487349460836249,"q_z":0.00637876587864194},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.868] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0982079077649131,"y":0.006414025996142399,"z":0.01872465000174346,"q_w":0.9920298561921708,"q_x":-0.015578386100669424,"q_y":0.12487349460836249,"q_z":0.00637876587864194},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:40.868] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:40.868] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:40.868] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:40.868] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:40.868] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:40.868] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:40.868] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:40.974] [INFO] Control end.
|
|
[2026-09-13 11:31:40.975] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":974741923,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:41.893] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:41.893] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:41.893] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:41.893] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:41.893] [INFO] Start control:
|
|
[2026-09-13 11:31:41.893] [INFO] Use normal control
|
|
[2026-09-13 11:31:41.893] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:41.894] [INFO] To get pl status.
|
|
[2026-09-13 11:31:41.894] [INFO] Received pl status: {"type":"pos_info","sec":1789270301,"nanosec":894115094,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09324894915253795,"y":0.005534806944136979,"z":0.0208581235695966,"q_w":0.9920946758122527,"q_x":-0.016147542241107128,"q_y":0.12417425641704302,"q_z":0.00825621873665832},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:41.894] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09324894915253797,"y":0.005534806944136979,"z":0.0208581235695966,"q_w":0.9920946758122527,"q_x":-0.016147542241107128,"q_y":0.12417425641704302,"q_z":0.00825621873665832},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:41.894] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:41.894] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:41.894] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:41.894] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:41.894] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:41.894] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:41.894] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:41.999] [INFO] Control end.
|
|
[2026-09-13 11:31:41.999] [INFO] Pub slam key info: {"type":"task_result","sec":1789270301,"nanosec":999838352,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:42.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.0292 cpuTemp:62.9762 cpuMemory:33.3745 cpuFrequency:1510.4
|
|
[2026-09-13 11:31:42.910] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:42.910] [INFO] To get pl status.
|
|
[2026-09-13 11:31:42.910] [INFO] Received pl status: {"type":"pos_info","sec":1789270302,"nanosec":910859179,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08641414806864461,"y":0.003683208245578361,"z":0.02060111515748319,"q_w":0.9925921016416552,"q_x":-0.014389455041976664,"q_y":0.12040910499288623,"q_z":0.007450555483243509},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:42.910] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08641414806864461,"y":0.003683208245578361,"z":0.02060111515748319,"q_w":0.9925921016416552,"q_x":-0.014389455041976664,"q_y":0.12040910499288623,"q_z":0.007450555483243509},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:42.911] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:42.911] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:42.911] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:42.911] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:42.911] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:42.911] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:42.911] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:42.912] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:42.912] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:42.912] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:42.912] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:42.913] [INFO] Start control:
|
|
[2026-09-13 11:31:42.913] [INFO] Control end.
|
|
[2026-09-13 11:31:42.913] [INFO] Pub slam key info: {"type":"task_result","sec":1789270302,"nanosec":913075253,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:42.937] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:42.937] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:42.937] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:42.937] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:42.937] [INFO] Start control:
|
|
[2026-09-13 11:31:42.937] [INFO] Use normal control
|
|
[2026-09-13 11:31:42.937] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:42.937] [INFO] To get pl status.
|
|
[2026-09-13 11:31:42.938] [INFO] Received pl status: {"type":"pos_info","sec":1789270302,"nanosec":938010490,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.07925054919330879,"y":0.005000779001194866,"z":0.021137191652259444,"q_w":0.9927123757580997,"q_x":-0.014820879306891159,"q_y":0.11939487684248837,"q_z":0.006880693064433157},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:42.938] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.07925054919330879,"y":0.005000779001194866,"z":0.021137191652259444,"q_w":0.9927123757580996,"q_x":-0.01482087930689116,"q_y":0.11939487684248835,"q_z":0.006880693064433157},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:42.938] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:42.938] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:42.938] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:42.938] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:42.938] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:42.938] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:42.938] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:43.043] [INFO] Control end.
|
|
[2026-09-13 11:31:43.044] [INFO] Pub slam key info: {"type":"task_result","sec":1789270303,"nanosec":43959035,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:43.950] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:43.950] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:43.951] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:43.951] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:43.951] [INFO] Start control:
|
|
[2026-09-13 11:31:43.951] [INFO] Use normal control
|
|
[2026-09-13 11:31:43.951] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:43.951] [INFO] To get pl status.
|
|
[2026-09-13 11:31:43.951] [INFO] Received pl status: {"type":"pos_info","sec":1789270303,"nanosec":951192215,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09386791234416424,"y":0.003915014969407386,"z":0.02028128713455964,"q_w":0.9918543681952766,"q_x":-0.016106620329818112,"q_y":0.1261052421942541,"q_z":0.007934542496479674},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:43.951] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09386791234416424,"y":0.003915014969407386,"z":0.02028128713455964,"q_w":0.9918543681952766,"q_x":-0.016106620329818112,"q_y":0.1261052421942541,"q_z":0.007934542496479674},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:43.951] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:43.951] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:43.951] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:43.951] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:43.951] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:43.951] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:43.951] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:44.055] [INFO] Control end.
|
|
[2026-09-13 11:31:44.056] [INFO] Pub slam key info: {"type":"task_result","sec":1789270304,"nanosec":55939152,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:44.963] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:44.963] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:44.963] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:44.963] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:44.964] [INFO] To get pl status.
|
|
[2026-09-13 11:31:44.964] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:44.964] [INFO] Received pl status: {"type":"pos_info","sec":1789270304,"nanosec":964031337,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0949897427257227,"y":0.004710712316744137,"z":0.02161769047869014,"q_w":0.9918794819595887,"q_x":-0.016438966632478052,"q_y":0.12593611036993874,"q_z":0.0067044573624510575},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:44.964] [INFO] Start control:
|
|
[2026-09-13 11:31:44.964] [INFO] Use normal control
|
|
[2026-09-13 11:31:44.964] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0949897427257227,"y":0.004710712316744137,"z":0.02161769047869014,"q_w":0.9918794819595887,"q_x":-0.016438966632478052,"q_y":0.12593611036993874,"q_z":0.0067044573624510575},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:44.964] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:44.964] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:44.964] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:44.964] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:44.964] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:44.964] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:44.965] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:45.068] [INFO] Control end.
|
|
[2026-09-13 11:31:45.069] [INFO] Pub slam key info: {"type":"task_result","sec":1789270305,"nanosec":68864869,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:45.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.1297 cpuTemp:63.031 cpuMemory:33.4524 cpuFrequency:1510.4
|
|
[2026-09-13 11:31:45.980] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:45.980] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:45.980] [INFO] To get pl status.
|
|
[2026-09-13 11:31:45.980] [INFO] Received pl status: {"type":"pos_info","sec":1789270305,"nanosec":980253132,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10149881990740703,"y":0.004519921045230774,"z":0.02137656442520893,"q_w":0.9918565544426081,"q_x":-0.01657755158641758,"q_y":0.1261192583465201,"q_z":0.006300227516598169},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:45.980] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10149881990740704,"y":0.004519921045230774,"z":0.02137656442520893,"q_w":0.991856554442608,"q_x":-0.01657755158641758,"q_y":0.1261192583465201,"q_z":0.006300227516598169},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:45.980] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:45.980] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:45.980] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:45.980] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:45.980] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:45.980] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:45.980] [INFO] Start control:
|
|
[2026-09-13 11:31:45.980] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:45.980] [INFO] Use normal control
|
|
[2026-09-13 11:31:45.980] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:45.980] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:45.980] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:46.085] [INFO] Control end.
|
|
[2026-09-13 11:31:46.085] [INFO] Pub slam key info: {"type":"task_result","sec":1789270306,"nanosec":85316880,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:46.994] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:46.994] [INFO] To get pl status.
|
|
[2026-09-13 11:31:46.994] [INFO] Received pl status: {"type":"pos_info","sec":1789270306,"nanosec":994561808,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08744029226737218,"y":0.005717021572840301,"z":0.02262868898587734,"q_w":0.9917891421641,"q_x":-0.01569676271853197,"q_y":0.1266573176568451,"q_z":0.008113754342471304},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:46.994] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08744029226737218,"y":0.005717021572840301,"z":0.02262868898587734,"q_w":0.9917891421641,"q_x":-0.01569676271853197,"q_y":0.1266573176568451,"q_z":0.008113754342471304},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:46.994] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:46.995] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:46.995] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:46.995] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:46.995] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:46.995] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:46.995] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.007] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.007] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.007] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.007] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.007] [INFO] Start control:
|
|
[2026-09-13 11:31:47.007] [INFO] Control end.
|
|
[2026-09-13 11:31:47.007] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":7796747,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.028] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.028] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.028] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.028] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":28618950,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08784524235995606,"y":0.005999315960167962,"z":0.022509308750257532,"q_w":0.9917848116863333,"q_x":-0.016041505159838938,"q_y":0.12666875066730107,"q_z":0.007783638281448073},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.028] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08784524235995606,"y":0.005999315960167962,"z":0.022509308750257532,"q_w":0.9917848116863331,"q_x":-0.016041505159838938,"q_y":0.12666875066730107,"q_z":0.007783638281448073},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.029] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.029] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.029] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.029] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.029] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.029] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.029] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.028] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.029] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.029] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.029] [INFO] Start control:
|
|
[2026-09-13 11:31:47.030] [INFO] Control end.
|
|
[2026-09-13 11:31:47.031] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":30025653,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.052] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.052] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.052] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":52435205,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09031180999835325,"y":0.006049118969539039,"z":0.020980388598806556,"q_w":0.9917632126811137,"q_x":-0.016179688228375823,"q_y":0.12680451058253017,"q_z":0.008035157571194182},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.052] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09031180999835324,"y":0.006049118969539039,"z":0.020980388598806556,"q_w":0.9917632126811136,"q_x":-0.016179688228375823,"q_y":0.12680451058253017,"q_z":0.008035157571194182},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.052] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.052] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.052] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.052] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.052] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.052] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.052] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.059] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.059] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.059] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.059] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.059] [INFO] Start control:
|
|
[2026-09-13 11:31:47.059] [INFO] Control end.
|
|
[2026-09-13 11:31:47.059] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":59647798,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.080] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.080] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.080] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":80497138,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09082797835188554,"y":0.005987236069526183,"z":0.02121698444374757,"q_w":0.9917470012760672,"q_x":-0.016100617245715237,"q_y":0.12693468140652378,"q_z":0.00813893361933069},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.080] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09082797835188554,"y":0.005987236069526183,"z":0.02121698444374757,"q_w":0.9917470012760672,"q_x":-0.016100617245715237,"q_y":0.12693468140652378,"q_z":0.00813893361933069},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.080] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.080] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.080] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.080] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.080] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.080] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.080] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.088] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.088] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.088] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.092] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.092] [INFO] Start control:
|
|
[2026-09-13 11:31:47.092] [INFO] Control end.
|
|
[2026-09-13 11:31:47.092] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":92508837,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.113] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.113] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.113] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":113347968,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09049775650312719,"y":0.006003873940320914,"z":0.02109719569589435,"q_w":0.9917746858761753,"q_x":-0.01553361899247635,"q_y":0.12681447218178585,"q_z":0.0077310271934179445},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.113] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0904977565031272,"y":0.006003873940320914,"z":0.02109719569589435,"q_w":0.9917746858761752,"q_x":-0.01553361899247635,"q_y":0.12681447218178585,"q_z":0.007731027193417944},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.113] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.113] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.113] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.113] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.113] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.114] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.114] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.121] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.121] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.121] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.121] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.121] [INFO] Start control:
|
|
[2026-09-13 11:31:47.121] [INFO] Control end.
|
|
[2026-09-13 11:31:47.121] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":121490865,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.142] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.142] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.142] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":142386989,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09122929836283206,"y":0.005942366269469092,"z":0.02160782490134351,"q_w":0.9917521630385749,"q_x":-0.015895044633195125,"q_y":0.12695800756193412,"q_z":0.007527215974090468},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.142] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09122929836283206,"y":0.005942366269469092,"z":0.02160782490134351,"q_w":0.9917521630385748,"q_x":-0.015895044633195125,"q_y":0.12695800756193412,"q_z":0.007527215974090468},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.142] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.142] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.142] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.142] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.142] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.142] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.142] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.152] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.152] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.152] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.152] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.152] [INFO] Start control:
|
|
[2026-09-13 11:31:47.152] [INFO] Control end.
|
|
[2026-09-13 11:31:47.152] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":152388413,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.173] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.173] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.173] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":173452799,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09402439723939415,"y":0.006508443339352313,"z":0.020857646614923404,"q_w":0.9917923095202827,"q_x":-0.015933244850483714,"q_y":0.12659215946888858,"q_z":0.008280799838307835},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.173] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09402439723939417,"y":0.006508443339352313,"z":0.020857646614923404,"q_w":0.9917923095202829,"q_x":-0.015933244850483714,"q_y":0.12659215946888858,"q_z":0.008280799838307835},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.173] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.173] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.173] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.173] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.173] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.173] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.173] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.183] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.183] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.183] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.183] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.183] [INFO] Start control:
|
|
[2026-09-13 11:31:47.183] [INFO] Control end.
|
|
[2026-09-13 11:31:47.184] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":183889821,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.204] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.204] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.204] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":204838460,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09391306933321858,"y":0.00635708752923028,"z":0.021033554674001774,"q_w":0.9917690706118546,"q_x":-0.015806441280436862,"q_y":0.12679444536445342,"q_z":0.008211919170748554},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.204] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09391306933321858,"y":0.00635708752923028,"z":0.021033554674001777,"q_w":0.9917690706118546,"q_x":-0.015806441280436862,"q_y":0.12679444536445342,"q_z":0.008211919170748554},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.205] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.205] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.205] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.205] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.205] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.205] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.205] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.211] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.211] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.211] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.211] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.211] [INFO] Start control:
|
|
[2026-09-13 11:31:47.211] [INFO] Control end.
|
|
[2026-09-13 11:31:47.211] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":211452442,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.232] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.232] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.232] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":232512796,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09426122546923105,"y":0.006321210159475945,"z":0.021194260356620066,"q_w":0.9917431243438436,"q_x":-0.015891770139278758,"q_y":0.1270029908989105,"q_z":0.007954071993841036},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.232] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09426122546923103,"y":0.006321210159475945,"z":0.021194260356620063,"q_w":0.9917431243438436,"q_x":-0.015891770139278758,"q_y":0.1270029908989105,"q_z":0.007954071993841036},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.232] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.232] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.232] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.232] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.232] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.232] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.232] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.244] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.244] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.244] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.244] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.244] [INFO] Start control:
|
|
[2026-09-13 11:31:47.244] [INFO] Control end.
|
|
[2026-09-13 11:31:47.244] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":244346921,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.265] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.265] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.265] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":265171012,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09497194871220838,"y":0.00550386483927198,"z":0.021328783728275683,"q_w":0.9917324440783826,"q_x":-0.016061105481826054,"q_y":0.12705784745827686,"q_z":0.008068683429702472},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.265] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09497194871220838,"y":0.00550386483927198,"z":0.021328783728275683,"q_w":0.9917324440783826,"q_x":-0.016061105481826054,"q_y":0.12705784745827686,"q_z":0.008068683429702472},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.265] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.265] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.265] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.265] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.265] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.265] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.265] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.271] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.271] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.271] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.271] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.271] [INFO] Start control:
|
|
[2026-09-13 11:31:47.271] [INFO] Control end.
|
|
[2026-09-13 11:31:47.272] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":271854564,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.292] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.292] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.292] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":292947495,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0951268286778231,"y":0.004763241959061016,"z":0.021806362416664362,"q_w":0.9917395564959404,"q_x":-0.016396942082508123,"q_y":0.1269555309838998,"q_z":0.008129300349625281},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.293] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0951268286778231,"y":0.004763241959061016,"z":0.02180636241666436,"q_w":0.9917395564959404,"q_x":-0.016396942082508123,"q_y":0.1269555309838998,"q_z":0.008129300349625281},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.293] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.293] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.293] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.293] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.293] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.293] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.293] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.299] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.299] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.299] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.299] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.299] [INFO] Start control:
|
|
[2026-09-13 11:31:47.299] [INFO] Control end.
|
|
[2026-09-13 11:31:47.299] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":299683273,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.320] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.320] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.320] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":320393536,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09663283601624474,"y":0.005189825344570153,"z":0.02160930138306491,"q_w":0.9917261619654166,"q_x":-0.01627966931112618,"q_y":0.12707265826605246,"q_z":0.008168938833409153},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.320] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09663283601624474,"y":0.005189825344570153,"z":0.02160930138306491,"q_w":0.9917261619654166,"q_x":-0.01627966931112618,"q_y":0.12707265826605246,"q_z":0.008168938833409153},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.320] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.320] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.320] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.320] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.320] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.320] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.320] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.328] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.328] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.328] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.328] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.328] [INFO] Start control:
|
|
[2026-09-13 11:31:47.328] [INFO] Control end.
|
|
[2026-09-13 11:31:47.328] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":328480623,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:47.355] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.355] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.357] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.357] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.357] [INFO] Start control:
|
|
[2026-09-13 11:31:47.357] [INFO] Use normal control
|
|
[2026-09-13 11:31:47.548] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:47.548] [INFO] To get pl status.
|
|
[2026-09-13 11:31:47.548] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":548132918,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09608922842142754,"y":0.005517734982556053,"z":0.02174379766907254,"q_w":0.9917650926662572,"q_x":-0.01596413872643556,"q_y":0.12684973365550678,"q_z":0.007502820465682123},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.548] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09608922842142754,"y":0.005517734982556053,"z":0.02174379766907254,"q_w":0.9917650926662572,"q_x":-0.01596413872643556,"q_y":0.12684973365550678,"q_z":0.007502820465682123},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:47.548] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:47.548] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:47.548] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:47.548] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:47.548] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:47.548] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:47.548] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:47.561] [INFO] Control end.
|
|
[2026-09-13 11:31:47.561] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":561725566,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:48.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.9617 cpuTemp:63.0542 cpuMemory:33.3884 cpuFrequency:1510.4
|
|
[2026-09-13 11:31:48.560] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:48.560] [INFO] To get pl status.
|
|
[2026-09-13 11:31:48.560] [INFO] Received pl status: {"type":"pos_info","sec":1789270308,"nanosec":560738144,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09801079594213274,"y":0.005116354783958882,"z":0.023311090145831683,"q_w":0.9917285149207857,"q_x":-0.016177591235653058,"q_y":0.12714164822710852,"q_z":0.006916611953777676},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:48.560] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09801079594213274,"y":0.005116354783958882,"z":0.023311090145831683,"q_w":0.9917285149207856,"q_x":-0.016177591235653058,"q_y":0.12714164822710852,"q_z":0.006916611953777676},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:48.561] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:48.561] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:48.561] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:48.561] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:48.561] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:48.561] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:48.561] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:48.571] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:48.571] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:48.571] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:48.571] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:48.571] [INFO] Start control:
|
|
[2026-09-13 11:31:48.571] [INFO] Control end.
|
|
[2026-09-13 11:31:48.571] [INFO] Pub slam key info: {"type":"task_result","sec":1789270308,"nanosec":571566187,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:48.592] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:48.592] [INFO] To get pl status.
|
|
[2026-09-13 11:31:48.592] [INFO] Received pl status: {"type":"pos_info","sec":1789270308,"nanosec":592809780,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09794014708707173,"y":0.005893589270988295,"z":0.022778358459491225,"q_w":0.9917723463939326,"q_x":-0.01598455456638597,"q_y":0.12679975270489324,"q_z":0.007343681472231871},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:48.592] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09794014708707172,"y":0.005893589270988295,"z":0.022778358459491225,"q_w":0.9917723463939326,"q_x":-0.01598455456638597,"q_y":0.12679975270489324,"q_z":0.007343681472231871},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:48.593] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:48.593] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:48.593] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:48.593] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:48.593] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:48.593] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:48.593] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:48.595] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:48.595] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:48.595] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:48.595] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:48.595] [INFO] Start control:
|
|
[2026-09-13 11:31:48.595] [INFO] Control end.
|
|
[2026-09-13 11:31:48.595] [INFO] Pub slam key info: {"type":"task_result","sec":1789270308,"nanosec":595489165,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:48.619] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:48.619] [INFO] To get pl status.
|
|
[2026-09-13 11:31:48.619] [INFO] Received pl status: {"type":"pos_info","sec":1789270308,"nanosec":619880832,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09750329729343243,"y":0.0056896711718200784,"z":0.02389527445399285,"q_w":0.9917505986770315,"q_x":-0.016326830435081107,"q_y":0.12692594026177753,"q_z":0.00734781058258195},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:48.619] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09750329729343243,"y":0.0056896711718200784,"z":0.02389527445399285,"q_w":0.9917505986770316,"q_x":-0.016326830435081107,"q_y":0.12692594026177753,"q_z":0.00734781058258195},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:48.620] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:48.620] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:48.620] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:48.620] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:48.620] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:48.620] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:48.620] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:48.627] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:48.627] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:48.627] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:48.627] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:48.627] [INFO] Start control:
|
|
[2026-09-13 11:31:48.627] [INFO] Control end.
|
|
[2026-09-13 11:31:48.628] [INFO] Pub slam key info: {"type":"task_result","sec":1789270308,"nanosec":627861195,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:48.648] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:48.648] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:48.648] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:48.648] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:48.648] [INFO] Start control:
|
|
[2026-09-13 11:31:48.648] [INFO] Use normal control
|
|
[2026-09-13 11:31:48.648] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:48.649] [INFO] To get pl status.
|
|
[2026-09-13 11:31:48.649] [INFO] Received pl status: {"type":"pos_info","sec":1789270308,"nanosec":649538370,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.097764961621917,"y":0.005501097769929988,"z":0.024291639406743906,"q_w":0.9917597335002025,"q_x":-0.016215144148522764,"q_y":0.12686760522687515,"q_z":0.007369589666163048},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:48.649] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.097764961621917,"y":0.005501097769929988,"z":0.024291639406743903,"q_w":0.9917597335002024,"q_x":-0.016215144148522764,"q_y":0.12686760522687515,"q_z":0.007369589666163048},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:48.649] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:48.649] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:48.649] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:48.649] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:48.649] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:48.649] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:48.649] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:48.754] [INFO] Control end.
|
|
[2026-09-13 11:31:48.754] [INFO] Pub slam key info: {"type":"task_result","sec":1789270308,"nanosec":754100277,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:49.664] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:49.664] [INFO] To get pl status.
|
|
[2026-09-13 11:31:49.664] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":664556349,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09638058803470856,"y":0.004927626322947172,"z":0.022891410251319348,"q_w":0.9918068778789628,"q_x":-0.01612826710716973,"q_y":0.1265338690350436,"q_z":0.006940891810584409},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.664] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09638058803470856,"y":0.004927626322947172,"z":0.022891410251319348,"q_w":0.9918068778789628,"q_x":-0.01612826710716973,"q_y":0.1265338690350436,"q_z":0.006940891810584409},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.664] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:49.664] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:49.664] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.664] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.664] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.664] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.664] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:49.664] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.664] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.664] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.664] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.664] [INFO] Start control:
|
|
[2026-09-13 11:31:49.665] [INFO] Control end.
|
|
[2026-09-13 11:31:49.665] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":665082223,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:49.691] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:49.691] [INFO] To get pl status.
|
|
[2026-09-13 11:31:49.691] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":691510821,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09743757851310689,"y":0.0050599850891069114,"z":0.021621665967064344,"q_w":0.9917603150847041,"q_x":-0.016267444621041665,"q_y":0.12685683270527,"q_z":0.007361498799649954},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.691] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09743757851310687,"y":0.0050599850891069114,"z":0.021621665967064344,"q_w":0.991760315084704,"q_x":-0.016267444621041665,"q_y":0.12685683270527,"q_z":0.007361498799649954},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.691] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:49.691] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:49.691] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.691] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.691] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.691] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.691] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:49.695] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.695] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.695] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.695] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.695] [INFO] Start control:
|
|
[2026-09-13 11:31:49.695] [INFO] Control end.
|
|
[2026-09-13 11:31:49.695] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":695406792,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:49.716] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:49.716] [INFO] To get pl status.
|
|
[2026-09-13 11:31:49.716] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":716349478,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09716079333224978,"y":0.005639114228731642,"z":0.02192113634449969,"q_w":0.9917465551309091,"q_x":-0.015928600781182363,"q_y":0.12700851629852722,"q_z":0.007340766361565417},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.716] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09716079333224978,"y":0.005639114228731642,"z":0.02192113634449969,"q_w":0.9917465551309091,"q_x":-0.015928600781182363,"q_y":0.12700851629852722,"q_z":0.007340766361565417},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.716] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:49.716] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:49.716] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.716] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.716] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.716] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.716] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:49.723] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.723] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.723] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.723] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.740] [INFO] Start control:
|
|
[2026-09-13 11:31:49.740] [INFO] Control end.
|
|
[2026-09-13 11:31:49.740] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":740739000,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:49.761] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:49.761] [INFO] To get pl status.
|
|
[2026-09-13 11:31:49.761] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":761486832,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09658881962783464,"y":0.0034866630281469354,"z":0.022462729958118797,"q_w":0.9917417803559303,"q_x":-0.016260316032313298,"q_y":0.12699149577552174,"q_z":0.007550047660412638},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.761] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09658881962783464,"y":0.0034866630281469354,"z":0.022462729958118797,"q_w":0.9917417803559304,"q_x":-0.016260316032313298,"q_y":0.12699149577552174,"q_z":0.007550047660412638},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.761] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:49.761] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:49.761] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.761] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.761] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.761] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.761] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:49.771] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.771] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.771] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.771] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.771] [INFO] Start control:
|
|
[2026-09-13 11:31:49.771] [INFO] Control end.
|
|
[2026-09-13 11:31:49.772] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":771704903,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:49.792] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:49.792] [INFO] To get pl status.
|
|
[2026-09-13 11:31:49.792] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":792736360,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09770717360828399,"y":0.003008592562441089,"z":0.020683042969715484,"q_w":0.9917746303058169,"q_x":-0.01590595186406158,"q_y":0.126775890208585,"q_z":0.007612952047593594},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.792] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.097707173608284,"y":0.003008592562441089,"z":0.020683042969715484,"q_w":0.9917746303058168,"q_x":-0.01590595186406158,"q_y":0.126775890208585,"q_z":0.007612952047593594},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.792] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:49.793] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:49.793] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.793] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.793] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.793] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.793] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:49.802] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.802] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.802] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.802] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.802] [INFO] Start control:
|
|
[2026-09-13 11:31:49.802] [INFO] Control end.
|
|
[2026-09-13 11:31:49.802] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":802342122,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:49.822] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.823] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.823] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.823] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.823] [INFO] Start control:
|
|
[2026-09-13 11:31:49.823] [INFO] Use normal control
|
|
[2026-09-13 11:31:49.888] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:49.888] [INFO] To get pl status.
|
|
[2026-09-13 11:31:49.888] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":888088198,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09591874515241473,"y":0.0017711937971747198,"z":0.02121177036685408,"q_w":0.9918101454990906,"q_x":-0.016529573848187137,"q_y":0.12645274585582736,"q_z":0.00700796254212656},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.888] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09591874515241472,"y":0.0017711937971747198,"z":0.02121177036685408,"q_w":0.9918101454990906,"q_x":-0.016529573848187137,"q_y":0.12645274585582736,"q_z":0.00700796254212656},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:49.889] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:49.889] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:49.889] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:49.889] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:49.889] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:49.889] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:49.889] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:49.933] [INFO] Control end.
|
|
[2026-09-13 11:31:49.934] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":933921960,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:50.902] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:50.902] [INFO] To get pl status.
|
|
[2026-09-13 11:31:50.902] [INFO] Received pl status: {"type":"pos_info","sec":1789270310,"nanosec":902573583,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09922735687035111,"y":0.002760469741704995,"z":0.02283612548623972,"q_w":0.9917071355191613,"q_x":-0.01623673828036773,"q_y":0.12731237384915559,"q_z":0.006699638444521984},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:50.902] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09922735687035111,"y":0.002760469741704995,"z":0.02283612548623972,"q_w":0.9917071355191612,"q_x":-0.01623673828036773,"q_y":0.1273123738491556,"q_z":0.006699638444521984},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:50.903] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:50.903] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:50.903] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:50.903] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:50.903] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:50.903] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:50.903] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:50.903] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:50.903] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:50.903] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:50.903] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:50.903] [INFO] Start control:
|
|
[2026-09-13 11:31:50.903] [INFO] Control end.
|
|
[2026-09-13 11:31:50.903] [INFO] Pub slam key info: {"type":"task_result","sec":1789270310,"nanosec":903632563,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:50.924] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:50.924] [INFO] To get pl status.
|
|
[2026-09-13 11:31:50.924] [INFO] Received pl status: {"type":"pos_info","sec":1789270310,"nanosec":924505711,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09819007857355545,"y":0.0032438443952715044,"z":0.022628783153536877,"q_w":0.9917702876057644,"q_x":-0.016218515070908154,"q_y":0.1268304386443476,"q_z":0.006534234810328015},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:50.924] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09819007857355544,"y":0.0032438443952715044,"z":0.022628783153536877,"q_w":0.9917702876057644,"q_x":-0.016218515070908154,"q_y":0.1268304386443476,"q_z":0.006534234810328015},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:50.924] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:50.924] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:50.925] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:50.925] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:50.925] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:50.925] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:50.925] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:50.931] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:50.931] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:50.931] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:50.931] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:50.931] [INFO] Start control:
|
|
[2026-09-13 11:31:50.931] [INFO] Control end.
|
|
[2026-09-13 11:31:50.931] [INFO] Pub slam key info: {"type":"task_result","sec":1789270310,"nanosec":931503802,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:50.952] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:50.952] [INFO] To get pl status.
|
|
[2026-09-13 11:31:50.952] [INFO] Received pl status: {"type":"pos_info","sec":1789270310,"nanosec":952944745,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.098399452786768,"y":0.0031209600860421147,"z":0.022841780473613123,"q_w":0.9917821192922016,"q_x":-0.01617278101262159,"q_y":0.12674601923626658,"q_z":0.006489654408916517},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:50.953] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.098399452786768,"y":0.0031209600860421147,"z":0.022841780473613123,"q_w":0.9917821192922016,"q_x":-0.01617278101262159,"q_y":0.12674601923626658,"q_z":0.006489654408916517},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:50.953] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:50.953] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:50.953] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:50.953] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:50.953] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:50.953] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:50.953] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:50.958] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:50.960] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:50.960] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:50.960] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:50.960] [INFO] Start control:
|
|
[2026-09-13 11:31:50.960] [INFO] Control end.
|
|
[2026-09-13 11:31:50.960] [INFO] Pub slam key info: {"type":"task_result","sec":1789270310,"nanosec":960181628,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:50.980] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:50.980] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:50.980] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:50.980] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:50.980] [INFO] Start control:
|
|
[2026-09-13 11:31:50.980] [INFO] Use normal control
|
|
[2026-09-13 11:31:50.980] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:50.984] [INFO] To get pl status.
|
|
[2026-09-13 11:31:50.984] [INFO] Received pl status: {"type":"pos_info","sec":1789270310,"nanosec":984579918,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09900204044129587,"y":0.0031714532962596534,"z":0.02263464049885539,"q_w":0.9917318801704564,"q_x":-0.016552030318691832,"q_y":0.12711659267063882,"q_z":0.005939698115870068},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:50.984] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09900204044129587,"y":0.0031714532962596534,"z":0.02263464049885539,"q_w":0.9917318801704564,"q_x":-0.016552030318691832,"q_y":0.12711659267063882,"q_z":0.005939698115870068},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:50.984] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:50.985] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:50.985] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:50.985] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:50.985] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:50.985] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:50.985] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:51.093] [INFO] Control end.
|
|
[2026-09-13 11:31:51.095] [INFO] Pub slam key info: {"type":"task_result","sec":1789270311,"nanosec":93551093,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:51.520] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.8731 cpuTemp:63.109 cpuMemory:33.4535 cpuFrequency:1510.4
|
|
[2026-09-13 11:31:52.002] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:52.002] [INFO] To get pl status.
|
|
[2026-09-13 11:31:52.003] [INFO] Received pl status: {"type":"pos_info","sec":1789270312,"nanosec":2980090,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10015948211873922,"y":0.006010482857617898,"z":0.020443538956668058,"q_w":0.9918431124900035,"q_x":-0.01665135602914579,"q_y":0.12617266849219136,"q_z":0.0071014276094724296},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.003] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10015948211873922,"y":0.006010482857617898,"z":0.020443538956668054,"q_w":0.9918431124900036,"q_x":-0.01665135602914579,"q_y":0.12617266849219136,"q_z":0.0071014276094724296},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.003] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:52.003] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:52.003] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.003] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.003] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.003] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.003] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:52.005] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.005] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.005] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.005] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.005] [INFO] Start control:
|
|
[2026-09-13 11:31:52.005] [INFO] Control end.
|
|
[2026-09-13 11:31:52.005] [INFO] Pub slam key info: {"type":"task_result","sec":1789270312,"nanosec":5168004,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:52.026] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:52.026] [INFO] To get pl status.
|
|
[2026-09-13 11:31:52.026] [INFO] Received pl status: {"type":"pos_info","sec":1789270312,"nanosec":26157732,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10048469685157448,"y":0.006420796783909112,"z":0.02047711831086711,"q_w":0.9919157865383814,"q_x":-0.016620525582626063,"q_y":0.12560752086497529,"q_z":0.007041395277666398},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.026] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10048469685157448,"y":0.006420796783909112,"z":0.02047711831086711,"q_w":0.9919157865383814,"q_x":-0.016620525582626063,"q_y":0.12560752086497529,"q_z":0.007041395277666398},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.026] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:52.026] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:52.026] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.026] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.026] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.026] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.026] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:52.027] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.027] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.027] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.027] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.027] [INFO] Start control:
|
|
[2026-09-13 11:31:52.027] [INFO] Control end.
|
|
[2026-09-13 11:31:52.027] [INFO] Pub slam key info: {"type":"task_result","sec":1789270312,"nanosec":27675063,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:52.051] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:52.051] [INFO] To get pl status.
|
|
[2026-09-13 11:31:52.051] [INFO] Received pl status: {"type":"pos_info","sec":1789270312,"nanosec":51934916,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0993526404118086,"y":0.006170442058863121,"z":0.02070394654845539,"q_w":0.9919577295170952,"q_x":-0.016515696960541563,"q_y":0.12530226943397907,"q_z":0.0068143877121486915},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.052] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0993526404118086,"y":0.006170442058863121,"z":0.02070394654845539,"q_w":0.9919577295170952,"q_x":-0.016515696960541563,"q_y":0.12530226943397907,"q_z":0.0068143877121486915},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.052] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:52.052] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:52.052] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.052] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.052] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.052] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.052] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:52.057] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.057] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.057] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.057] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.057] [INFO] Start control:
|
|
[2026-09-13 11:31:52.058] [INFO] Control end.
|
|
[2026-09-13 11:31:52.058] [INFO] Pub slam key info: {"type":"task_result","sec":1789270312,"nanosec":58387133,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:52.079] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:52.079] [INFO] To get pl status.
|
|
[2026-09-13 11:31:52.079] [INFO] Received pl status: {"type":"pos_info","sec":1789270312,"nanosec":79414110,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10032070554320824,"y":0.006800378998880358,"z":0.020545146170285578,"q_w":0.9918646393978552,"q_x":-0.01665711777243347,"q_y":0.12601305171334704,"q_z":0.00691291093300069},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.079] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10032070554320824,"y":0.006800378998880358,"z":0.020545146170285578,"q_w":0.9918646393978552,"q_x":-0.01665711777243347,"q_y":0.12601305171334704,"q_z":0.00691291093300069},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.079] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:52.079] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:52.079] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.079] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.079] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.079] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.079] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:52.084] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.084] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.084] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.084] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.084] [INFO] Start control:
|
|
[2026-09-13 11:31:52.084] [INFO] Control end.
|
|
[2026-09-13 11:31:52.084] [INFO] Pub slam key info: {"type":"task_result","sec":1789270312,"nanosec":84790098,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:52.107] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:52.107] [INFO] To get pl status.
|
|
[2026-09-13 11:31:52.107] [INFO] Received pl status: {"type":"pos_info","sec":1789270312,"nanosec":107461451,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10039387091672766,"y":0.006483177906620832,"z":0.02006714090339054,"q_w":0.9918349436217397,"q_x":-0.016431818827973673,"q_y":0.12627064262984097,"q_z":0.007011758032919582},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.107] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10039387091672766,"y":0.006483177906620832,"z":0.02006714090339054,"q_w":0.9918349436217396,"q_x":-0.016431818827973673,"q_y":0.12627064262984097,"q_z":0.007011758032919582},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.107] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:52.107] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:52.107] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.108] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.108] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.108] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.108] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:52.115] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.115] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.115] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.115] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.115] [INFO] Start control:
|
|
[2026-09-13 11:31:52.115] [INFO] Control end.
|
|
[2026-09-13 11:31:52.116] [INFO] Pub slam key info: {"type":"task_result","sec":1789270312,"nanosec":115806242,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:52.136] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.136] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.136] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.136] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.136] [INFO] Start control:
|
|
[2026-09-13 11:31:52.136] [INFO] Use normal control
|
|
[2026-09-13 11:31:52.434] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:52.434] [INFO] To get pl status.
|
|
[2026-09-13 11:31:52.434] [INFO] Received pl status: {"type":"pos_info","sec":1789270312,"nanosec":434134775,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09376985759959564,"y":0.0037490861002328598,"z":0.01927956237146219,"q_w":0.9923405341030201,"q_x":-0.01560314279096255,"q_y":0.12241671839528737,"q_z":0.00556357515510288},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.434] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09376985759959564,"y":0.00374908610023286,"z":0.01927956237146219,"q_w":0.99234053410302,"q_x":-0.01560314279096255,"q_y":0.12241671839528737,"q_z":0.00556357515510288},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:52.434] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:52.434] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:52.434] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:52.434] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:52.434] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:52.434] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:52.434] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:52.440] [INFO] Control end.
|
|
[2026-09-13 11:31:52.440] [INFO] Pub slam key info: {"type":"task_result","sec":1789270312,"nanosec":440670162,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:53.455] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:53.455] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:53.455] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:53.455] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:53.455] [INFO] Start control:
|
|
[2026-09-13 11:31:53.455] [INFO] Use normal control
|
|
[2026-09-13 11:31:53.659] [INFO] Control end.
|
|
[2026-09-13 11:31:53.659] [INFO] Pub slam key info: {"type":"task_result","sec":1789270313,"nanosec":659181590,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
|
|
[2026-09-13 11:31:53.665] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:31:53.665] [INFO] To get pl status.
|
|
[2026-09-13 11:31:53.665] [INFO] Received pl status: {"type":"pos_info","sec":1789270313,"nanosec":665350885,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.028057035510461268,"y":0.007598090160267923,"z":0.010372568287056653,"q_w":0.9926805176094886,"q_x":-0.010848896485015962,"q_y":0.11934541798520067,"q_z":0.01497873858351399},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:53.665] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.028057035510461268,"y":0.007598090160267923,"z":0.010372568287056651,"q_w":0.9926805176094886,"q_x":-0.010848896485015962,"q_y":0.11934541798520068,"q_z":0.01497873858351399},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:31:53.665] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:31:53.665] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:31:53.665] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:53.665] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:53.665] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:53.665] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:53.665] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:53.681] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:31:53.682] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:31:53.682] [INFO] node(0) name:8888
|
|
[2026-09-13 11:31:53.682] [INFO] node(1) name:9999
|
|
[2026-09-13 11:31:53.682] [INFO] Start control:
|
|
[2026-09-13 11:31:53.682] [INFO] Use normal control
|
|
[2026-09-13 11:31:53.776] [INFO] Thread is still running...
|
|
[2026-09-13 11:31:53.797] [INFO] Control end.
|
|
[2026-09-13 11:31:53.797] [INFO] Pub slam key info: {"type":"task_result","sec":1789270313,"nanosec":797087719,"errorCode":14,"info":"Task interrupted.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:31:54.521] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.1355 cpuTemp:63.148 cpuMemory:33.4556 cpuFrequency:1510.4
|
|
[2026-09-13 11:31:54.788] [WARNING] Joystick operation intervention, stop navigation.
|
|
[2026-09-13 11:31:57.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.2896 cpuTemp:63.1718 cpuMemory:33.3537 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:00.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3437 cpuTemp:63.1795 cpuMemory:33.3584 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:03.171] [INFO] Received request. apiId:1202 fun:restore nav. parameter:{"data": {}}
|
|
[2026-09-13 11:32:03.172] [INFO] To planner request: {"data": {}}
|
|
[2026-09-13 11:32:03.172] [INFO] Received planner response (0):
|
|
[2026-09-13 11:32:03.547] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.696 cpuTemp:63.1325 cpuMemory:33.3695 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:06.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.0526 cpuTemp:63.2183 cpuMemory:33.3733 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:09.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7289 cpuTemp:63.234 cpuMemory:33.3608 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:12.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.6252 cpuTemp:63.32 cpuMemory:33.3721 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:15.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.6573 cpuTemp:63.3355 cpuMemory:33.3041 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:18.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.1012 cpuTemp:63.359 cpuMemory:33.3921 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:21.523] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5155 cpuTemp:63.367 cpuMemory:33.4037 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:24.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.8482 cpuTemp:63.359 cpuMemory:33.4007 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:27.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.8104 cpuTemp:63.39 cpuMemory:33.4704 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:30.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.6787 cpuTemp:63.4135 cpuMemory:33.476 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:33.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.5027 cpuTemp:63.4373 cpuMemory:33.3981 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:36.522] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.4693 cpuTemp:63.4763 cpuMemory:33.4242 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:39.521] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.0728 cpuTemp:63.531 cpuMemory:33.4812 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:42.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.4184 cpuTemp:63.5385 cpuMemory:33.3151 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:45.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.2934 cpuTemp:63.539 cpuMemory:33.3531 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.136 cpuTemp:63.453 cpuMemory:33.3792 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.2643 cpuTemp:63.5308 cpuMemory:33.3767 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:54.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.0853 cpuTemp:63.4998 cpuMemory:33.3786 cpuFrequency:1510.4
|
|
[2026-09-13 11:32:57.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.9433 cpuTemp:63.4527 cpuMemory:33.3709 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:00.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.488 cpuTemp:63.5855 cpuMemory:33.3747 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:03.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0821 cpuTemp:63.5703 cpuMemory:33.3653 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:06.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.8675 cpuTemp:63.5858 cpuMemory:33.3773 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:09.520] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.804 cpuTemp:63.5545 cpuMemory:33.334 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:12.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:80.1615 cpuTemp:63.5387 cpuMemory:33.4514 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:15.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.4472 cpuTemp:63.5468 cpuMemory:33.4724 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:18.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.1533 cpuTemp:63.57 cpuMemory:33.4604 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:21.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.769 cpuTemp:63.5465 cpuMemory:33.3687 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:24.530] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.9066 cpuTemp:63.6325 cpuMemory:33.4186 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:27.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.2697 cpuTemp:63.578 cpuMemory:33.3893 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:30.526] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.9706 cpuTemp:63.6322 cpuMemory:33.3714 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:33.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.8289 cpuTemp:63.6325 cpuMemory:33.3727 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:36.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6678 cpuTemp:63.7105 cpuMemory:33.4276 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:39.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.9143 cpuTemp:63.6247 cpuMemory:33.3658 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:42.519] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.9163 cpuTemp:63.6482 cpuMemory:33.3863 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:45.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4972 cpuTemp:63.6405 cpuMemory:33.3693 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6234 cpuTemp:63.6483 cpuMemory:33.3721 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.9687 cpuTemp:63.695 cpuMemory:33.3811 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:54.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.6789 cpuTemp:63.6872 cpuMemory:33.3751 cpuFrequency:1510.4
|
|
[2026-09-13 11:33:57.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7505 cpuTemp:63.656 cpuMemory:33.3745 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:00.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3315 cpuTemp:63.742 cpuMemory:33.46 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:03.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.4943 cpuTemp:63.7575 cpuMemory:33.3973 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:06.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0502 cpuTemp:63.726 cpuMemory:33.3793 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:09.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.8706 cpuTemp:63.7495 cpuMemory:33.392 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:12.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.486 cpuTemp:63.7262 cpuMemory:33.3728 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:15.521] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.4457 cpuTemp:63.7105 cpuMemory:33.4165 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:18.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.3562 cpuTemp:63.734 cpuMemory:33.3744 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:21.520] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.4314 cpuTemp:63.7105 cpuMemory:33.3768 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:24.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.902 cpuTemp:63.6947 cpuMemory:33.386 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:27.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.201 cpuTemp:63.734 cpuMemory:33.3789 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:30.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.7498 cpuTemp:63.7262 cpuMemory:33.3093 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:33.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.576 cpuTemp:63.7417 cpuMemory:33.3776 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:36.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.3332 cpuTemp:63.7183 cpuMemory:33.379 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:39.520] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.3603 cpuTemp:63.7262 cpuMemory:33.382 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:42.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.0382 cpuTemp:63.7885 cpuMemory:33.4609 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:48.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4515 cpuTemp:63.7497 cpuMemory:33.4668 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.05 cpuTemp:63.7497 cpuMemory:33.3828 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:54.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.3871 cpuTemp:63.812 cpuMemory:33.4469 cpuFrequency:1510.4
|
|
[2026-09-13 11:34:57.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.8241 cpuTemp:63.7185 cpuMemory:33.3315 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:00.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.6393 cpuTemp:63.7962 cpuMemory:33.396 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:03.525] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.8509 cpuTemp:63.7417 cpuMemory:33.4873 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:06.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.0947 cpuTemp:63.7027 cpuMemory:33.4327 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:09.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.4918 cpuTemp:63.8197 cpuMemory:33.4331 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:12.522] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.7702 cpuTemp:63.773 cpuMemory:33.423 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:15.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.6933 cpuTemp:63.8825 cpuMemory:33.444 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:18.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.8222 cpuTemp:63.8278 cpuMemory:33.4255 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:21.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2697 cpuTemp:63.812 cpuMemory:33.4405 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:24.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.4698 cpuTemp:63.8122 cpuMemory:33.3628 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:27.529] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.7828 cpuTemp:63.7342 cpuMemory:33.4011 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:30.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.3186 cpuTemp:63.82 cpuMemory:33.3766 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:33.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.0928 cpuTemp:63.82 cpuMemory:33.4554 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:36.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.3152 cpuTemp:63.8668 cpuMemory:33.386 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:39.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.3261 cpuTemp:63.7807 cpuMemory:33.381 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:42.522] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.5307 cpuTemp:63.781 cpuMemory:33.4596 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:45.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.8312 cpuTemp:63.812 cpuMemory:33.3866 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.8943 cpuTemp:63.812 cpuMemory:33.3744 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:51.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4789 cpuTemp:63.7965 cpuMemory:33.3288 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:54.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.4845 cpuTemp:63.7808 cpuMemory:33.4138 cpuFrequency:1510.4
|
|
[2026-09-13 11:35:57.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.0946 cpuTemp:63.8358 cpuMemory:33.4272 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:00.528] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.2173 cpuTemp:63.7498 cpuMemory:33.4261 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:03.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.3626 cpuTemp:63.867 cpuMemory:33.4251 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:06.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2048 cpuTemp:63.8277 cpuMemory:33.4998 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:09.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.0944 cpuTemp:63.7652 cpuMemory:33.4974 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:12.521] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.7178 cpuTemp:63.828 cpuMemory:33.4311 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:15.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.034 cpuTemp:63.7967 cpuMemory:33.3351 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:18.527] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5258 cpuTemp:63.82 cpuMemory:33.158 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:21.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.6282 cpuTemp:63.8355 cpuMemory:33.2461 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:24.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.6005 cpuTemp:63.8512 cpuMemory:33.2352 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:27.519] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3792 cpuTemp:63.8435 cpuMemory:33.3116 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:30.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6229 cpuTemp:63.8588 cpuMemory:33.2483 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:33.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.9079 cpuTemp:63.851 cpuMemory:33.2489 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:36.535] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.5335 cpuTemp:63.8353 cpuMemory:33.3336 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:39.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.4904 cpuTemp:63.8983 cpuMemory:33.2568 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:42.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.3539 cpuTemp:63.8043 cpuMemory:33.3062 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:45.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.5465 cpuTemp:63.812 cpuMemory:33.2434 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:48.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.5549 cpuTemp:63.906 cpuMemory:33.2966 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7298 cpuTemp:63.8197 cpuMemory:33.3231 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:54.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.0469 cpuTemp:63.9448 cpuMemory:33.4188 cpuFrequency:1510.4
|
|
[2026-09-13 11:36:57.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.7872 cpuTemp:63.9057 cpuMemory:33.4156 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:00.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.8256 cpuTemp:63.8747 cpuMemory:33.4124 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:03.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1699 cpuTemp:63.8122 cpuMemory:33.4183 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:06.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.1549 cpuTemp:63.8905 cpuMemory:33.363 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:09.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.0979 cpuTemp:63.859 cpuMemory:33.3358 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:12.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.5601 cpuTemp:63.8745 cpuMemory:33.2921 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:15.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3103 cpuTemp:63.7653 cpuMemory:33.343 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:18.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.4999 cpuTemp:63.8982 cpuMemory:33.3485 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:21.523] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.5796 cpuTemp:63.8203 cpuMemory:33.3453 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:24.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.173 cpuTemp:63.82 cpuMemory:33.3523 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:27.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.9595 cpuTemp:63.8905 cpuMemory:33.3467 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:30.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.1084 cpuTemp:63.8278 cpuMemory:33.3416 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:33.519] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.1788 cpuTemp:63.8902 cpuMemory:33.3527 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:36.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0957 cpuTemp:63.7733 cpuMemory:33.3632 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:39.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.6585 cpuTemp:63.9137 cpuMemory:33.3651 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:42.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.3751 cpuTemp:63.8825 cpuMemory:33.4652 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:45.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0392 cpuTemp:63.906 cpuMemory:33.4805 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.403 cpuTemp:63.8748 cpuMemory:33.4714 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.2116 cpuTemp:63.9057 cpuMemory:33.4159 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:54.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1691 cpuTemp:63.8667 cpuMemory:33.419 cpuFrequency:1510.4
|
|
[2026-09-13 11:37:57.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.6493 cpuTemp:63.9215 cpuMemory:33.4167 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:00.524] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.5064 cpuTemp:63.8667 cpuMemory:33.492 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:03.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2108 cpuTemp:63.8978 cpuMemory:33.4112 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:04.501] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
|
|
[2026-09-13 11:38:04.502] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
|
|
[2026-09-13 11:38:04.502] [INFO] Thread is still running...
|
|
[2026-09-13 11:38:04.543] [INFO] Thread is already completed.
|
|
[2026-09-13 11:38:04.544] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:38:04.565] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
|
|
[2026-09-13 11:38:06.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.286 cpuTemp:63.9917 cpuMemory:33.3425 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:09.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.5672 cpuTemp:64.07 cpuMemory:33.3935 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:12.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.9627 cpuTemp:63.9215 cpuMemory:33.4106 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:15.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.0386 cpuTemp:63.984 cpuMemory:33.4115 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:18.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.7454 cpuTemp:64.0153 cpuMemory:33.4225 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:21.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.5409 cpuTemp:64.0465 cpuMemory:33.4156 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:24.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4879 cpuTemp:64.109 cpuMemory:33.4154 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:27.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.3885 cpuTemp:64.0385 cpuMemory:33.4148 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:30.524] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.3894 cpuTemp:64.0075 cpuMemory:33.4251 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:33.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3829 cpuTemp:64.1245 cpuMemory:33.4402 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:36.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6322 cpuTemp:64.0855 cpuMemory:33.5363 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:39.519] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.4977 cpuTemp:64.0622 cpuMemory:33.5491 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:42.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.9102 cpuTemp:64.1245 cpuMemory:33.4614 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:45.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.9235 cpuTemp:64.0778 cpuMemory:33.4906 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:48.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.8409 cpuTemp:64.1168 cpuMemory:33.4535 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:97.3011 cpuTemp:64.2105 cpuMemory:33.4561 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:54.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.5654 cpuTemp:64.156 cpuMemory:33.4668 cpuFrequency:1510.4
|
|
[2026-09-13 11:38:57.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0054 cpuTemp:64.1635 cpuMemory:33.4625 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:00.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7842 cpuTemp:64.226 cpuMemory:33.3727 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:03.547] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.4316 cpuTemp:64.1325 cpuMemory:33.4367 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:06.526] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.4359 cpuTemp:64.1245 cpuMemory:33.4414 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:09.524] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.9186 cpuTemp:64.1635 cpuMemory:33.5197 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:12.519] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.9663 cpuTemp:64.1637 cpuMemory:33.5898 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:15.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.5752 cpuTemp:64.2025 cpuMemory:33.5629 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:18.513] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:18.513] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:18.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.3193 cpuTemp:64.156 cpuMemory:33.5943 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:18.516] [INFO] Thread is still running...
|
|
[2026-09-13 11:39:18.532] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:39:18.590] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
|
|
[2026-09-13 11:39:27.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.002 cpuTemp:63.8745 cpuMemory:33.4425 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:30.520] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.1129 cpuTemp:63.7575 cpuMemory:33.5948 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:39.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.6216 cpuTemp:63.656 cpuMemory:33.5183 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:50.692] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:39:50.692] [INFO] To pl relocation request: {
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:39:50.692] [INFO] Thread is already completed.
|
|
[2026-09-13 11:39:50.693] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:39:50.738] [INFO] Thread is already completed.
|
|
[2026-09-13 11:39:52.059] [INFO] ICP Score:0.00384335
|
|
[2026-09-13 11:39:52.105] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
|
|
[2026-09-13 11:39:54.259] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:39:54.260] [INFO] To get pl status.
|
|
[2026-09-13 11:39:54.260] [INFO] Received pl status: {"type":"pos_info","sec":1789270794,"nanosec":260062366,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.20341432586907687,"y":-0.033023469651732223,"z":0.019657352480714978,"q_w":0.990115901727125,"q_x":-0.010392230204674734,"q_y":0.13986458581726158,"q_z":0.0006327184373387246},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:54.260] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.20341432586907687,"y":-0.033023469651732223,"z":0.019657352480714978,"q_w":0.990115901727125,"q_x":-0.010392230204674734,"q_y":0.13986458581726158,"q_z":0.0006327184373387246},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:54.260] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:39:54.260] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:39:54.260] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:54.260] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:54.260] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:54.260] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:54.260] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:54.260] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:54.260] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:54.260] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:54.260] [INFO] Start control:
|
|
[2026-09-13 11:39:54.260] [INFO] Use normal control
|
|
[2026-09-13 11:39:54.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.2586 cpuTemp:63.7887 cpuMemory:33.6 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:55.579] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:39:55.579] [INFO] To get pl status.
|
|
[2026-09-13 11:39:55.579] [INFO] Received pl status: {"type":"pos_info","sec":1789270795,"nanosec":579516680,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09838007720437396,"y":-0.014530649743411141,"z":-0.0021056362767267246,"q_w":0.991420031177227,"q_x":-0.015309446562401914,"q_y":0.12980459749590298,"q_z":-0.0016459329956538817},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:55.579] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09838007720437396,"y":-0.01453064974341114,"z":-0.002105636276726725,"q_w":0.991420031177227,"q_x":-0.015309446562401914,"q_y":0.12980459749590298,"q_z":-0.0016459329956538815},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:55.579] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:39:55.579] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:39:55.579] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:55.579] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:55.579] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:55.579] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:55.579] [INFO] Thread is still running...
|
|
[2026-09-13 11:39:55.673] [INFO] Control end.
|
|
[2026-09-13 11:39:55.673] [INFO] Pub slam key info: {"type":"task_result","sec":1789270795,"nanosec":673613867,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:39:56.593] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:56.593] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:56.593] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:56.593] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:56.593] [INFO] Start control:
|
|
[2026-09-13 11:39:56.593] [INFO] Use normal control
|
|
[2026-09-13 11:39:56.593] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:39:56.593] [INFO] To get pl status.
|
|
[2026-09-13 11:39:56.594] [INFO] Received pl status: {"type":"pos_info","sec":1789270796,"nanosec":593994766,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09009633206037303,"y":-0.011815950792353858,"z":-0.002808003359248005,"q_w":0.9904986339854931,"q_x":-0.015119300867695983,"q_y":0.1366837329179148,"q_z":-0.0011916248439765768},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:56.594] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09009633206037304,"y":-0.011815950792353858,"z":-0.002808003359248005,"q_w":0.9904986339854932,"q_x":-0.015119300867695983,"q_y":0.1366837329179148,"q_z":-0.0011916248439765768},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:56.594] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:39:56.594] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:39:56.594] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:56.595] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:56.595] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:56.595] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:56.595] [INFO] Thread is still running...
|
|
[2026-09-13 11:39:56.707] [INFO] Control end.
|
|
[2026-09-13 11:39:56.708] [INFO] Pub slam key info: {"type":"task_result","sec":1789270796,"nanosec":708003152,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:39:57.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.9214 cpuTemp:63.7262 cpuMemory:33.6423 cpuFrequency:1510.4
|
|
[2026-09-13 11:39:57.618] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:39:57.618] [INFO] To get pl status.
|
|
[2026-09-13 11:39:57.618] [INFO] Received pl status: {"type":"pos_info","sec":1789270797,"nanosec":618882643,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10713961697666347,"y":-0.02506486724186409,"z":0.012510006328021185,"q_w":0.9864301022808439,"q_x":-0.02463993423433273,"q_y":0.14283674182122372,"q_z":0.07711155646871933},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:57.618] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10713961697666348,"y":-0.02506486724186409,"z":0.012510006328021184,"q_w":0.986430102280844,"q_x":-0.02463993423433273,"q_y":0.14283674182122372,"q_z":0.07711155646871933},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:57.619] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:39:57.619] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:39:57.619] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:57.619] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:57.619] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:57.619] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:57.619] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:57.619] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:57.619] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:57.619] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:57.619] [INFO] Start control:
|
|
[2026-09-13 11:39:57.619] [INFO] Use normal control
|
|
[2026-09-13 11:39:57.619] [INFO] Thread is still running...
|
|
[2026-09-13 11:39:57.723] [INFO] Control end.
|
|
[2026-09-13 11:39:57.723] [INFO] Pub slam key info: {"type":"task_result","sec":1789270797,"nanosec":723611132,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:39:58.631] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:39:58.631] [INFO] To get pl status.
|
|
[2026-09-13 11:39:58.631] [INFO] Received pl status: {"type":"pos_info","sec":1789270798,"nanosec":631647296,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.07581414586090993,"y":-0.058464380933048385,"z":0.017003909619885894,"q_w":0.885393503435243,"q_x":-0.030995561966464583,"q_y":0.15124012472655216,"q_z":0.43845643328128564},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:58.631] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.07581414586090993,"y":-0.058464380933048385,"z":0.017003909619885894,"q_w":0.885393503435243,"q_x":-0.030995561966464583,"q_y":0.15124012472655216,"q_z":0.4384564332812856},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:39:58.631] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:39:58.631] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:39:58.631] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:58.631] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:58.631] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:58.631] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:58.631] [INFO] Thread is still running...
|
|
[2026-09-13 11:39:58.635] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:58.635] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:58.635] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:58.635] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:58.635] [INFO] Start control:
|
|
[2026-09-13 11:39:58.636] [INFO] Control end.
|
|
[2026-09-13 11:39:58.636] [INFO] Pub slam key info: {"type":"task_result","sec":1789270798,"nanosec":636238363,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:39:58.667] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:39:58.667] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:39:58.667] [INFO] node(0) name:8888
|
|
[2026-09-13 11:39:58.667] [INFO] node(1) name:9999
|
|
[2026-09-13 11:39:58.667] [INFO] Start control:
|
|
[2026-09-13 11:39:58.667] [INFO] Use normal control
|
|
[2026-09-13 11:40:00.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6496 cpuTemp:63.8905 cpuMemory:33.7581 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:03.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.4416 cpuTemp:63.8043 cpuMemory:33.6643 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:06.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.4458 cpuTemp:63.851 cpuMemory:33.7427 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:08.836] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:08.836] [INFO] To get pl status.
|
|
[2026-09-13 11:40:08.836] [INFO] Received pl status: {"type":"pos_info","sec":1789270808,"nanosec":836340896,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9337922171933047,"y":0.3426871862885799,"z":0.020845995474926774,"q_w":0.9918122699891123,"q_x":-0.023144970578105394,"q_y":0.1209240559557892,"q_z":0.033913185152447414},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:08.836] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9337922171933049,"y":0.3426871862885799,"z":0.020845995474926778,"q_w":0.9918122699891124,"q_x":-0.02314497057810539,"q_y":0.1209240559557892,"q_z":0.033913185152447414},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:08.836] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:08.836] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:08.836] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:08.836] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:08.836] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:08.836] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:08.836] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:08.922] [INFO] Control end.
|
|
[2026-09-13 11:40:08.922] [INFO] Pub slam key info: {"type":"task_result","sec":1789270808,"nanosec":922104842,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:09.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.4107 cpuTemp:63.8745 cpuMemory:33.7537 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:09.849] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:09.849] [INFO] To get pl status.
|
|
[2026-09-13 11:40:09.849] [INFO] Received pl status: {"type":"pos_info","sec":1789270809,"nanosec":849318452,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9324696722264509,"y":0.35127677503656163,"z":0.02269860547287854,"q_w":0.9923272460223292,"q_x":-0.018087971743297643,"q_y":0.11489295906910499,"q_z":0.04194126889232514},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:09.849] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9324696722264508,"y":0.35127677503656163,"z":0.02269860547287854,"q_w":0.9923272460223292,"q_x":-0.018087971743297643,"q_y":0.114892959069105,"q_z":0.04194126889232514},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:09.849] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:09.849] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:09.849] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:09.849] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:09.849] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:09.849] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:09.849] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:09.853] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:09.853] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:09.853] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:09.853] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:09.853] [INFO] Start control:
|
|
[2026-09-13 11:40:09.853] [INFO] Control end.
|
|
[2026-09-13 11:40:09.853] [INFO] Pub slam key info: {"type":"task_result","sec":1789270809,"nanosec":853514849,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:09.874] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:09.874] [INFO] To get pl status.
|
|
[2026-09-13 11:40:09.874] [INFO] Received pl status: {"type":"pos_info","sec":1789270809,"nanosec":874177561,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9332102988208083,"y":0.3520533716250064,"z":0.02211346996073752,"q_w":0.9922940534513132,"q_x":-0.018452659290505387,"q_y":0.11494174449570786,"q_z":0.04243119397983475},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:09.874] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9332102988208084,"y":0.3520533716250064,"z":0.02211346996073752,"q_w":0.9922940534513132,"q_x":-0.018452659290505387,"q_y":0.11494174449570786,"q_z":0.04243119397983475},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:09.874] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:09.874] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:09.874] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:09.874] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:09.876] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:09.876] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:09.876] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:09.887] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:09.887] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:09.887] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:09.887] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:09.887] [INFO] Start control:
|
|
[2026-09-13 11:40:09.887] [INFO] Control end.
|
|
[2026-09-13 11:40:09.887] [INFO] Pub slam key info: {"type":"task_result","sec":1789270809,"nanosec":887511258,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:09.908] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:09.908] [INFO] To get pl status.
|
|
[2026-09-13 11:40:09.908] [INFO] Received pl status: {"type":"pos_info","sec":1789270809,"nanosec":908528223,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9345980492453398,"y":0.35250165303123376,"z":0.022904911169881234,"q_w":0.9923278733464974,"q_x":-0.019288343755088366,"q_y":0.11442360207394808,"q_z":0.04266838247726602},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:09.908] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9345980492453398,"y":0.35250165303123376,"z":0.02290491116988123,"q_w":0.9923278733464974,"q_x":-0.019288343755088366,"q_y":0.11442360207394808,"q_z":0.04266838247726602},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:09.909] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:09.909] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:09.909] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:09.909] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:09.909] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:09.909] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:09.909] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:09.915] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:09.920] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:09.920] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:09.920] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:09.920] [INFO] Start control:
|
|
[2026-09-13 11:40:09.920] [INFO] Control end.
|
|
[2026-09-13 11:40:09.920] [INFO] Pub slam key info: {"type":"task_result","sec":1789270809,"nanosec":920295595,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:09.941] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:09.941] [INFO] To get pl status.
|
|
[2026-09-13 11:40:09.941] [INFO] Received pl status: {"type":"pos_info","sec":1789270809,"nanosec":941608857,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9349074434978315,"y":0.3518568630721059,"z":0.022728181099128695,"q_w":0.9923312134070517,"q_x":-0.01912458257393844,"q_y":0.11409734188301365,"q_z":0.043529413213272895},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:09.941] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.9349074434978316,"y":0.3518568630721059,"z":0.022728181099128695,"q_w":0.9923312134070515,"q_x":-0.01912458257393844,"q_y":0.11409734188301364,"q_z":0.043529413213272895},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:09.941] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:09.941] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:09.941] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:09.941] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:09.941] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:09.941] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:09.941] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:09.945] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:09.945] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:09.945] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:09.945] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:09.945] [INFO] Start control:
|
|
[2026-09-13 11:40:09.945] [INFO] Control end.
|
|
[2026-09-13 11:40:09.946] [INFO] Pub slam key info: {"type":"task_result","sec":1789270809,"nanosec":945984237,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:09.971] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:09.971] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:09.971] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:09.971] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:09.971] [INFO] Start control:
|
|
[2026-09-13 11:40:09.971] [INFO] Use normal control
|
|
[2026-09-13 11:40:12.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.7562 cpuTemp:63.812 cpuMemory:33.6787 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:13.633] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:13.633] [INFO] To get pl status.
|
|
[2026-09-13 11:40:13.633] [INFO] Received pl status: {"type":"pos_info","sec":1789270813,"nanosec":633351328,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.04047427910943528,"y":-0.011871723096461784,"z":0.011965469258561293,"q_w":0.9914436091786528,"q_x":-0.012836860308687895,"q_y":0.12956293228667504,"q_z":-0.009393157802378121},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:13.633] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.04047427910943528,"y":-0.011871723096461784,"z":0.011965469258561292,"q_w":0.9914436091786528,"q_x":-0.012836860308687897,"q_y":0.12956293228667504,"q_z":-0.00939315780237812},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:13.633] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:13.633] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:13.633] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:13.633] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:13.633] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:13.633] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:13.634] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:13.703] [INFO] Control end.
|
|
[2026-09-13 11:40:13.704] [INFO] Pub slam key info: {"type":"task_result","sec":1789270813,"nanosec":704002508,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:14.647] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:14.647] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:14.647] [INFO] To get pl status.
|
|
[2026-09-13 11:40:14.647] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:14.647] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:14.647] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:14.647] [INFO] Start control:
|
|
[2026-09-13 11:40:14.647] [INFO] Use normal control
|
|
[2026-09-13 11:40:14.647] [INFO] Received pl status: {"type":"pos_info","sec":1789270814,"nanosec":647364470,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.03079936738669256,"y":-0.00042390790597384424,"z":0.015742295526515238,"q_w":0.9913529795268203,"q_x":-0.02154116877464916,"q_y":0.12939145282992914,"q_z":-0.0036193874728098776},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:14.647] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.03079936738669256,"y":-0.00042390790597384424,"z":0.015742295526515238,"q_w":0.9913529795268204,"q_x":-0.02154116877464916,"q_y":0.12939145282992914,"q_z":-0.0036193874728098776},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:14.647] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:14.647] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:14.647] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:14.647] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:14.647] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:14.647] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:14.647] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:14.763] [INFO] Control end.
|
|
[2026-09-13 11:40:14.763] [INFO] Pub slam key info: {"type":"task_result","sec":1789270814,"nanosec":763581058,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:15.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7684 cpuTemp:63.9292 cpuMemory:33.6791 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:15.664] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:15.664] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:15.664] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:15.664] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:15.664] [INFO] Start control:
|
|
[2026-09-13 11:40:15.664] [INFO] Use normal control
|
|
[2026-09-13 11:40:15.664] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:15.671] [INFO] To get pl status.
|
|
[2026-09-13 11:40:15.671] [INFO] Received pl status: {"type":"pos_info","sec":1789270815,"nanosec":671521219,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.032680644808569186,"y":0.009645447215686933,"z":0.017103068129736956,"q_w":0.9912494492031346,"q_x":-0.03428201370297024,"q_y":0.12324156078754264,"q_z":0.03256978178621889},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:15.671] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.032680644808569186,"y":0.009645447215686932,"z":0.017103068129736956,"q_w":0.9912494492031346,"q_x":-0.03428201370297024,"q_y":0.12324156078754264,"q_z":0.03256978178621889},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:15.671] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:15.671] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:15.671] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:15.671] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:15.671] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:15.671] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:15.671] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:15.776] [INFO] Control end.
|
|
[2026-09-13 11:40:15.776] [INFO] Pub slam key info: {"type":"task_result","sec":1789270815,"nanosec":776118471,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:16.695] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:16.695] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:16.695] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:16.695] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:16.695] [INFO] Start control:
|
|
[2026-09-13 11:40:16.695] [INFO] Use normal control
|
|
[2026-09-13 11:40:16.695] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:16.695] [INFO] To get pl status.
|
|
[2026-09-13 11:40:16.695] [INFO] Received pl status: {"type":"pos_info","sec":1789270816,"nanosec":695956280,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.020972515174266595,"y":0.006131698404310366,"z":0.0047138095798734654,"q_w":0.9192780131946233,"q_x":-0.07928928030118518,"q_y":0.13861531287977366,"q_z":0.35975955792933223},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:16.696] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.020972515174266595,"y":0.006131698404310366,"z":0.0047138095798734654,"q_w":0.9192780131946232,"q_x":-0.07928928030118518,"q_y":0.13861531287977366,"q_z":0.35975955792933223},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:16.696] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:16.696] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:16.696] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:16.696] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:16.696] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:16.696] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:16.697] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:16.811] [INFO] Control end.
|
|
[2026-09-13 11:40:16.811] [INFO] Pub slam key info: {"type":"task_result","sec":1789270816,"nanosec":811527726,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:17.715] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:17.716] [INFO] To get pl status.
|
|
[2026-09-13 11:40:17.716] [INFO] Received pl status: {"type":"pos_info","sec":1789270817,"nanosec":716063292,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0019768814969253357,"y":-0.007121350769753396,"z":0.014053264449831232,"q_w":0.6979911257982997,"q_x":-0.11295064049659592,"q_y":0.10466517448292038,"q_z":0.699353803427629},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:17.716] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0019768814969253357,"y":-0.007121350769753396,"z":0.014053264449831232,"q_w":0.6979911257982997,"q_x":-0.11295064049659592,"q_y":0.10466517448292038,"q_z":0.699353803427629},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:17.716] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:17.716] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:17.716] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:17.716] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:17.716] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:17.716] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:17.716] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:17.731] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:17.731] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:17.731] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:17.731] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:17.731] [INFO] Start control:
|
|
[2026-09-13 11:40:17.731] [INFO] Control end.
|
|
[2026-09-13 11:40:17.731] [INFO] Pub slam key info: {"type":"task_result","sec":1789270817,"nanosec":731529925,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:17.752] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:17.752] [INFO] To get pl status.
|
|
[2026-09-13 11:40:17.752] [INFO] Received pl status: {"type":"pos_info","sec":1789270817,"nanosec":752234079,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0022269126465932665,"y":-0.0065097003245095505,"z":0.013242036301839125,"q_w":0.683660724597507,"q_x":-0.11778537737547108,"q_y":0.10376659857063404,"q_z":0.7127181150640205},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:17.752] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0022269126465932665,"y":-0.0065097003245095505,"z":0.013242036301839124,"q_w":0.683660724597507,"q_x":-0.11778537737547108,"q_y":0.10376659857063404,"q_z":0.7127181150640205},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:17.752] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:17.752] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:17.752] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:17.752] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:17.752] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:17.752] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:17.752] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:17.759] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:17.759] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:17.759] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:17.759] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:17.759] [INFO] Start control:
|
|
[2026-09-13 11:40:17.759] [INFO] Control end.
|
|
[2026-09-13 11:40:17.759] [INFO] Pub slam key info: {"type":"task_result","sec":1789270817,"nanosec":759513908,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:17.780] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:17.780] [INFO] To get pl status.
|
|
[2026-09-13 11:40:17.780] [INFO] Received pl status: {"type":"pos_info","sec":1789270817,"nanosec":780260111,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.003645692256105161,"y":-0.007085570025466942,"z":0.013651213177514825,"q_w":0.6744116496543368,"q_x":-0.11923817378402164,"q_y":0.10371406182308293,"q_z":0.7212451581143026},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:17.780] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.003645692256105161,"y":-0.007085570025466942,"z":0.013651213177514825,"q_w":0.6744116496543368,"q_x":-0.11923817378402164,"q_y":0.10371406182308292,"q_z":0.7212451581143026},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:17.780] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:17.780] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:17.780] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:17.780] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:17.780] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:17.780] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:17.780] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:17.791] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:17.791] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:17.791] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:17.791] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:17.791] [INFO] Start control:
|
|
[2026-09-13 11:40:17.791] [INFO] Control end.
|
|
[2026-09-13 11:40:17.791] [INFO] Pub slam key info: {"type":"task_result","sec":1789270817,"nanosec":791784563,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:17.821] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:17.821] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:17.821] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:17.821] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:17.821] [INFO] Start control:
|
|
[2026-09-13 11:40:17.821] [INFO] Use normal control
|
|
[2026-09-13 11:40:18.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1307 cpuTemp:63.8435 cpuMemory:33.669 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:21.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6413 cpuTemp:63.8822 cpuMemory:33.6083 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:24.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.9246 cpuTemp:63.8902 cpuMemory:33.6822 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:27.124] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:27.124] [INFO] To get pl status.
|
|
[2026-09-13 11:40:27.124] [INFO] Received pl status: {"type":"pos_info","sec":1789270827,"nanosec":124398604,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9341308712210405,"y":0.3396626070898622,"z":0.02501926295754586,"q_w":0.9911178971434632,"q_x":-0.025455757705153417,"q_y":0.1305245834223009,"q_z":-0.000807145594458374},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:27.124] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9341308712210404,"y":0.3396626070898622,"z":0.02501926295754586,"q_w":0.9911178971434632,"q_x":-0.025455757705153417,"q_y":0.1305245834223009,"q_z":-0.000807145594458374},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:27.124] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:27.124] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:27.124] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:27.124] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:27.124] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:27.124] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:27.124] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:27.179] [INFO] Control end.
|
|
[2026-09-13 11:40:27.179] [INFO] Pub slam key info: {"type":"task_result","sec":1789270827,"nanosec":179056733,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:27.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.8978 cpuTemp:64.0307 cpuMemory:33.6629 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:28.138] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:28.138] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:28.138] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:28.138] [INFO] To get pl status.
|
|
[2026-09-13 11:40:28.138] [INFO] Received pl status: {"type":"pos_info","sec":1789270828,"nanosec":138765294,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9346004777340035,"y":0.3531659807139646,"z":0.019191673847307997,"q_w":0.9920682036470584,"q_x":-0.025430680267818348,"q_y":0.12181583554358873,"q_z":0.017744351902279645},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:28.138] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9346004777340036,"y":0.3531659807139646,"z":0.019191673847307997,"q_w":0.9920682036470584,"q_x":-0.025430680267818348,"q_y":0.12181583554358873,"q_z":0.017744351902279645},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:28.139] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:28.139] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:28.139] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:28.139] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:28.139] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:28.139] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:28.139] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:28.138] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:28.140] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:28.140] [INFO] Start control:
|
|
[2026-09-13 11:40:28.140] [INFO] Control end.
|
|
[2026-09-13 11:40:28.141] [INFO] Pub slam key info: {"type":"task_result","sec":1789270828,"nanosec":141054011,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:28.161] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:28.161] [INFO] To get pl status.
|
|
[2026-09-13 11:40:28.161] [INFO] Received pl status: {"type":"pos_info","sec":1789270828,"nanosec":161896761,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9350948413381398,"y":0.3534668288552345,"z":0.01909843786606912,"q_w":0.9920608680801132,"q_x":-0.025656857553467402,"q_y":0.12187174875635387,"q_z":0.017442377695768424},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:28.161] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9350948413381398,"y":0.3534668288552345,"z":0.01909843786606912,"q_w":0.9920608680801132,"q_x":-0.0256568575534674,"q_y":0.12187174875635388,"q_z":0.017442377695768424},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:28.162] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:28.162] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:28.162] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:28.162] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:28.162] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:28.162] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:28.162] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:28.167] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:28.167] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:28.167] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:28.167] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:28.167] [INFO] Start control:
|
|
[2026-09-13 11:40:28.168] [INFO] Control end.
|
|
[2026-09-13 11:40:28.168] [INFO] Pub slam key info: {"type":"task_result","sec":1789270828,"nanosec":168339346,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:28.189] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:28.189] [INFO] To get pl status.
|
|
[2026-09-13 11:40:28.189] [INFO] Received pl status: {"type":"pos_info","sec":1789270828,"nanosec":189239027,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9342999965441988,"y":0.3518086951939622,"z":0.019024151617506806,"q_w":0.9920971129730225,"q_x":-0.02571966862302216,"q_y":0.12159118461829416,"q_z":0.01724531529534769},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:28.189] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9342999965441988,"y":0.3518086951939622,"z":0.01902415161750681,"q_w":0.9920971129730224,"q_x":-0.02571966862302216,"q_y":0.12159118461829416,"q_z":0.01724531529534769},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:28.189] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:28.189] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:28.189] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:28.189] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:28.189] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:28.189] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:28.189] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:28.191] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:28.191] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:28.191] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:28.191] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:28.191] [INFO] Start control:
|
|
[2026-09-13 11:40:28.191] [INFO] Control end.
|
|
[2026-09-13 11:40:28.191] [INFO] Pub slam key info: {"type":"task_result","sec":1789270828,"nanosec":191722086,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:28.212] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:28.212] [INFO] To get pl status.
|
|
[2026-09-13 11:40:28.212] [INFO] Received pl status: {"type":"pos_info","sec":1789270828,"nanosec":212437280,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9345346001792025,"y":0.3519026717173146,"z":0.018787836984273314,"q_w":0.9920998328357147,"q_x":-0.025625141559229275,"q_y":0.12159573480504629,"q_z":0.017197415056837327},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:28.212] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.9345346001792024,"y":0.3519026717173146,"z":0.01878783698427331,"q_w":0.9920998328357148,"q_x":-0.025625141559229275,"q_y":0.12159573480504628,"q_z":0.017197415056837327},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:28.212] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:28.212] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:28.212] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:28.212] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:28.212] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:28.212] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:28.212] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:28.217] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:28.217] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:28.217] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:28.217] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:28.217] [INFO] Start control:
|
|
[2026-09-13 11:40:28.217] [INFO] Control end.
|
|
[2026-09-13 11:40:28.218] [INFO] Pub slam key info: {"type":"task_result","sec":1789270828,"nanosec":217920793,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:28.247] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:28.247] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:28.251] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:28.251] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:28.251] [INFO] Start control:
|
|
[2026-09-13 11:40:28.251] [INFO] Use normal control
|
|
[2026-09-13 11:40:30.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.3835 cpuTemp:64.0462 cpuMemory:33.6676 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:33.099] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:33.099] [INFO] To get pl status.
|
|
[2026-09-13 11:40:33.099] [INFO] Received pl status: {"type":"pos_info","sec":1789270833,"nanosec":99575901,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0635557540460671,"y":-0.0010506249215882911,"z":0.010147293946620192,"q_w":0.9885561793582104,"q_x":-0.02038250421107123,"q_y":0.14775917435711436,"q_z":-0.022549061357126032},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:33.099] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0635557540460671,"y":-0.0010506249215882911,"z":0.010147293946620192,"q_w":0.9885561793582104,"q_x":-0.02038250421107123,"q_y":0.14775917435711436,"q_z":-0.022549061357126032},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:33.099] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:33.099] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:33.099] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:33.099] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:33.099] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:33.099] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:33.099] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:33.177] [INFO] Control end.
|
|
[2026-09-13 11:40:33.177] [INFO] Pub slam key info: {"type":"task_result","sec":1789270833,"nanosec":177642563,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:33.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.7057 cpuTemp:63.9995 cpuMemory:33.6651 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:34.112] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:34.112] [INFO] To get pl status.
|
|
[2026-09-13 11:40:34.112] [INFO] Received pl status: {"type":"pos_info","sec":1789270834,"nanosec":112306568,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08794743797425017,"y":-0.02007650387847833,"z":0.016857433926146654,"q_w":0.9913851316567992,"q_x":-0.017248334470895875,"q_y":0.12926225506722785,"q_z":0.012218228298161694},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:34.112] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08794743797425017,"y":-0.02007650387847833,"z":0.016857433926146654,"q_w":0.9913851316567992,"q_x":-0.017248334470895875,"q_y":0.12926225506722783,"q_z":0.012218228298161694},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:34.112] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:34.112] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:34.112] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:34.112] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:34.112] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:34.112] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:34.112] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:34.123] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:34.123] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:34.123] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:34.123] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:34.123] [INFO] Start control:
|
|
[2026-09-13 11:40:34.123] [INFO] Control end.
|
|
[2026-09-13 11:40:34.123] [INFO] Pub slam key info: {"type":"task_result","sec":1789270834,"nanosec":123526274,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:34.144] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:34.144] [INFO] To get pl status.
|
|
[2026-09-13 11:40:34.144] [INFO] Received pl status: {"type":"pos_info","sec":1789270834,"nanosec":144895698,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08787762526305576,"y":-0.01947961239808106,"z":0.0158750695746801,"q_w":0.9913699604303087,"q_x":-0.017362927983457503,"q_y":0.12934773016840434,"q_z":0.012381235339458275},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:34.144] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08787762526305576,"y":-0.01947961239808106,"z":0.0158750695746801,"q_w":0.9913699604303088,"q_x":-0.017362927983457503,"q_y":0.12934773016840434,"q_z":0.012381235339458277},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:34.145] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:34.145] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:34.145] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:34.145] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:34.145] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:34.145] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:34.145] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:34.152] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:34.152] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:34.152] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:34.152] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:34.152] [INFO] Start control:
|
|
[2026-09-13 11:40:34.152] [INFO] Control end.
|
|
[2026-09-13 11:40:34.152] [INFO] Pub slam key info: {"type":"task_result","sec":1789270834,"nanosec":152168647,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:34.173] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:34.173] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:34.173] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:34.173] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:34.173] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:34.173] [INFO] To get pl status.
|
|
[2026-09-13 11:40:34.173] [INFO] Start control:
|
|
[2026-09-13 11:40:34.173] [INFO] Use normal control
|
|
[2026-09-13 11:40:34.173] [INFO] Received pl status: {"type":"pos_info","sec":1789270834,"nanosec":173556664,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08630773216777192,"y":-0.02155013910216984,"z":0.016092648799173957,"q_w":0.9914651621905601,"q_x":-0.01690520920566124,"q_y":0.12861248073894746,"q_z":0.013033643478830787},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:34.173] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08630773216777192,"y":-0.02155013910216984,"z":0.016092648799173957,"q_w":0.99146516219056,"q_x":-0.01690520920566124,"q_y":0.12861248073894746,"q_z":0.013033643478830789},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:34.173] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:34.174] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:34.174] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:34.174] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:34.174] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:34.174] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:34.174] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:34.279] [INFO] Control end.
|
|
[2026-09-13 11:40:34.279] [INFO] Pub slam key info: {"type":"task_result","sec":1789270834,"nanosec":279323972,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:35.186] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:35.186] [INFO] To get pl status.
|
|
[2026-09-13 11:40:35.186] [INFO] Received pl status: {"type":"pos_info","sec":1789270835,"nanosec":186408295,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0864130576228492,"y":-0.02210350556455871,"z":0.01803408414477161,"q_w":0.9890195954266556,"q_x":-0.026903846186137677,"q_y":0.12387053982366947,"q_z":0.07597705105016682},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:35.186] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0864130576228492,"y":-0.02210350556455871,"z":0.01803408414477161,"q_w":0.9890195954266556,"q_x":-0.026903846186137677,"q_y":0.12387053982366948,"q_z":0.07597705105016682},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:35.186] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:35.186] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:35.186] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:35.186] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:35.186] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:35.186] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:35.186] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:35.187] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:35.187] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:35.188] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:35.188] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:35.188] [INFO] Start control:
|
|
[2026-09-13 11:40:35.188] [INFO] Control end.
|
|
[2026-09-13 11:40:35.188] [INFO] Pub slam key info: {"type":"task_result","sec":1789270835,"nanosec":188152386,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:35.208] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 1.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:35.209] [INFO] To get pl status.
|
|
[2026-09-13 11:40:35.209] [INFO] Received pl status: {"type":"pos_info","sec":1789270835,"nanosec":209023713,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08607914957662229,"y":-0.02384963770409915,"z":0.018570671749314874,"q_w":0.9884779071825311,"q_x":-0.02782102590681482,"q_y":0.12346538577983071,"q_z":0.08302840504172827},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:35.209] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08607914957662229,"y":-0.02384963770409915,"z":0.01857067174931487,"q_w":0.9884779071825311,"q_x":-0.02782102590681482,"q_y":0.12346538577983072,"q_z":0.08302840504172827},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:35.209] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:35.209] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:35.209] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:35.209] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:35.209] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:35.209] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:35.209] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:35.215] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:35.215] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:35.223] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:35.223] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:35.223] [INFO] Start control:
|
|
[2026-09-13 11:40:35.223] [INFO] Control end.
|
|
[2026-09-13 11:40:35.223] [INFO] Pub slam key info: {"type":"task_result","sec":1789270835,"nanosec":223555659,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:35.244] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:35.244] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:35.244] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:35.244] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:35.244] [INFO] Start control:
|
|
[2026-09-13 11:40:35.244] [INFO] Use normal control
|
|
[2026-09-13 11:40:35.244] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9907727241516113,
|
|
"q_x": -0.0024791662581264973,
|
|
"q_y": 0.13209699094295502,
|
|
"q_z": -0.030225884169340134,
|
|
"x": -0.9361488819122314,
|
|
"y": 0.3111284375190735,
|
|
"z": 0.01921854540705681
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:40:35.245] [INFO] To get pl status.
|
|
[2026-09-13 11:40:35.245] [INFO] Received pl status: {"type":"pos_info","sec":1789270835,"nanosec":245400523,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08630384180486753,"y":-0.024241872264494462,"z":0.019493646999249457,"q_w":0.9877540319581973,"q_x":-0.029458557982476156,"q_y":0.12429097346269471,"q_z":0.08958749704960726},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:35.245] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.08630384180486753,"y":-0.024241872264494466,"z":0.019493646999249457,"q_w":0.9877540319581972,"q_x":-0.029458557982476156,"q_y":0.12429097346269471,"q_z":0.08958749704960726},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:40:35.245] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:40:35.245] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:40:35.245] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:35.245] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:35.245] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:35.245] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:35.245] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:35.363] [INFO] Control end.
|
|
[2026-09-13 11:40:35.364] [INFO] Pub slam key info: {"type":"task_result","sec":1789270835,"nanosec":363905348,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:36.279] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:40:36.279] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:40:36.279] [INFO] node(0) name:8888
|
|
[2026-09-13 11:40:36.279] [INFO] node(1) name:9999
|
|
[2026-09-13 11:40:36.279] [INFO] Start control:
|
|
[2026-09-13 11:40:36.279] [INFO] Use normal control
|
|
[2026-09-13 11:40:36.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.4234 cpuTemp:63.9212 cpuMemory:33.6671 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:37.796] [INFO] Thread is still running...
|
|
[2026-09-13 11:40:37.890] [INFO] Control end.
|
|
[2026-09-13 11:40:37.890] [INFO] Pub slam key info: {"type":"task_result","sec":1789270837,"nanosec":890518865,"errorCode":14,"info":"Task interrupted.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:40:38.808] [WARNING] Joystick operation intervention, stop navigation.
|
|
[2026-09-13 11:40:39.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1382 cpuTemp:63.9293 cpuMemory:33.6738 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:39.526] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
|
|
[2026-09-13 11:40:39.526] [INFO] To planner request: {"data": {}}
|
|
[2026-09-13 11:40:39.630] [INFO] Received planner response (0):
|
|
[2026-09-13 11:40:42.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.9085 cpuTemp:64.0387 cpuMemory:33.6764 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:45.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.0491 cpuTemp:63.984 cpuMemory:33.7466 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:48.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.7567 cpuTemp:63.9137 cpuMemory:33.612 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:51.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.4238 cpuTemp:63.9762 cpuMemory:33.7482 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:54.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.6626 cpuTemp:63.9528 cpuMemory:33.7519 cpuFrequency:1510.4
|
|
[2026-09-13 11:40:57.519] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.412 cpuTemp:63.9918 cpuMemory:33.7357 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:00.525] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.6454 cpuTemp:64.1167 cpuMemory:33.6645 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:03.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0187 cpuTemp:64.0542 cpuMemory:33.6694 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:06.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3979 cpuTemp:64.0232 cpuMemory:33.6582 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:09.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.476 cpuTemp:64.07 cpuMemory:33.6657 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:12.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0719 cpuTemp:64.023 cpuMemory:33.6638 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:15.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0431 cpuTemp:64.0385 cpuMemory:33.6209 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:18.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.0842 cpuTemp:63.9918 cpuMemory:33.669 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:21.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.8276 cpuTemp:64.0307 cpuMemory:33.6697 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:24.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.8726 cpuTemp:64.0072 cpuMemory:33.6772 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:27.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.4637 cpuTemp:64.0233 cpuMemory:33.6785 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:30.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1336 cpuTemp:63.976 cpuMemory:33.6662 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:33.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.6181 cpuTemp:64.0855 cpuMemory:33.7484 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:36.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.053 cpuTemp:63.9915 cpuMemory:33.7577 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:39.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1584 cpuTemp:64.0388 cpuMemory:33.7566 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:42.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.206 cpuTemp:64.0072 cpuMemory:33.6256 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:45.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.2478 cpuTemp:64.0697 cpuMemory:33.6903 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:48.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3866 cpuTemp:64.0703 cpuMemory:33.6997 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:49.736] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:41:49.736] [INFO] To pl relocation request: {
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:41:49.736] [INFO] Thread is already completed.
|
|
[2026-09-13 11:41:49.737] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:41:49.779] [INFO] Thread is already completed.
|
|
[2026-09-13 11:41:51.391] [INFO] ICP Score:0.00398962
|
|
[2026-09-13 11:41:51.434] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
|
|
[2026-09-13 11:41:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.6701 cpuTemp:63.9682 cpuMemory:33.7281 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:54.528] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2026 cpuTemp:64.0542 cpuMemory:33.8116 cpuFrequency:1510.4
|
|
[2026-09-13 11:41:57.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2295 cpuTemp:63.9917 cpuMemory:33.7282 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:00.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.2779 cpuTemp:63.984 cpuMemory:33.7246 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:03.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.2521 cpuTemp:63.9837 cpuMemory:33.7296 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:06.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.7789 cpuTemp:64.1245 cpuMemory:33.727 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:09.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.6706 cpuTemp:64.054 cpuMemory:33.647 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:12.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.6558 cpuTemp:64.031 cpuMemory:33.6931 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:15.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.6448 cpuTemp:64.031 cpuMemory:33.7076 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:18.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.9371 cpuTemp:64.0233 cpuMemory:33.7741 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:21.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0394 cpuTemp:64.0153 cpuMemory:33.7906 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:24.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5689 cpuTemp:63.9528 cpuMemory:33.7764 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:27.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.3224 cpuTemp:63.9685 cpuMemory:33.8086 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:30.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.7535 cpuTemp:64.0153 cpuMemory:33.7518 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:33.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.2096 cpuTemp:64.023 cpuMemory:33.7476 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:36.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.544 cpuTemp:64.0542 cpuMemory:33.6917 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:39.527] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.0771 cpuTemp:64.062 cpuMemory:33.8335 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:42.537] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.36 cpuTemp:64.0543 cpuMemory:33.7592 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:45.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4621 cpuTemp:63.9917 cpuMemory:33.7494 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.6796 cpuTemp:64.101 cpuMemory:33.7083 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.3472 cpuTemp:64.078 cpuMemory:33.7156 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:54.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.9123 cpuTemp:64.0932 cpuMemory:33.711 cpuFrequency:1510.4
|
|
[2026-09-13 11:42:57.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.8025 cpuTemp:64.1248 cpuMemory:33.7976 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:00.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.8494 cpuTemp:64.0855 cpuMemory:33.7891 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:03.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.9623 cpuTemp:64.1165 cpuMemory:33.6571 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:06.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.9948 cpuTemp:64.0778 cpuMemory:33.8241 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:09.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.1132 cpuTemp:64.0385 cpuMemory:33.8253 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:12.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.0426 cpuTemp:64.117 cpuMemory:33.7714 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:15.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.2125 cpuTemp:64.1482 cpuMemory:33.7538 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:18.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.7502 cpuTemp:64.0858 cpuMemory:33.7369 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:21.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.9748 cpuTemp:64.148 cpuMemory:33.7575 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:24.519] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.0337 cpuTemp:64.1093 cpuMemory:33.7509 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:27.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.4062 cpuTemp:64.07 cpuMemory:33.7524 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:30.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.2161 cpuTemp:64.1245 cpuMemory:33.6516 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:33.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.3533 cpuTemp:64.0307 cpuMemory:33.72 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:36.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.4071 cpuTemp:64.1478 cpuMemory:33.7132 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:39.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.2458 cpuTemp:64.07 cpuMemory:33.7168 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:39.840] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:43:39.840] [INFO] To pl relocation request: {
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:43:39.840] [INFO] Thread is already completed.
|
|
[2026-09-13 11:43:39.840] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:43:39.882] [INFO] Thread is already completed.
|
|
[2026-09-13 11:43:41.267] [INFO] ICP Score:0.00415806
|
|
[2026-09-13 11:43:41.313] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
|
|
[2026-09-13 11:43:42.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:82.7944 cpuTemp:64.0072 cpuMemory:33.7778 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:43.683] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
|
|
[2026-09-13 11:43:43.683] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
|
|
[2026-09-13 11:43:43.684] [INFO] Thread is still running...
|
|
[2026-09-13 11:43:43.710] [INFO] Thread is already completed.
|
|
[2026-09-13 11:43:43.710] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:43:43.730] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
|
|
[2026-09-13 11:43:45.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.5076 cpuTemp:64.109 cpuMemory:33.6979 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:48.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.4587 cpuTemp:64.0623 cpuMemory:33.7253 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.9783 cpuTemp:64.1873 cpuMemory:33.8268 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:54.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.2575 cpuTemp:64.117 cpuMemory:33.8276 cpuFrequency:1510.4
|
|
[2026-09-13 11:43:57.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.6242 cpuTemp:64.1715 cpuMemory:33.7335 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:00.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3109 cpuTemp:64.2655 cpuMemory:33.7366 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:03.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.9086 cpuTemp:64.1557 cpuMemory:33.7396 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:06.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3414 cpuTemp:64.1403 cpuMemory:33.7547 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:09.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6444 cpuTemp:64.1715 cpuMemory:33.809 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:12.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.2352 cpuTemp:64.1715 cpuMemory:33.8127 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:15.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6667 cpuTemp:64.1872 cpuMemory:33.8154 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:18.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3072 cpuTemp:64.1245 cpuMemory:33.8156 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:21.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.5704 cpuTemp:64.187 cpuMemory:33.818 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:24.528] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.2608 cpuTemp:64.1953 cpuMemory:33.8103 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:27.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.6376 cpuTemp:64.2733 cpuMemory:33.8551 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:30.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.8701 cpuTemp:64.1402 cpuMemory:33.8571 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:33.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.4292 cpuTemp:64.2498 cpuMemory:33.9438 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:36.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:97.2302 cpuTemp:64.2732 cpuMemory:33.9455 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:39.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.6108 cpuTemp:64.2807 cpuMemory:33.9421 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:42.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.9769 cpuTemp:64.2572 cpuMemory:33.9494 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:45.523] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.7443 cpuTemp:64.3042 cpuMemory:33.8812 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:46.175] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:44:46.175] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:44:46.177] [INFO] Thread is still running...
|
|
[2026-09-13 11:44:46.186] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:44:46.321] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
|
|
[2026-09-13 11:44:53.175] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:44:53.175] [INFO] To pl relocation request: {
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:44:53.175] [INFO] Thread is already completed.
|
|
[2026-09-13 11:44:53.175] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:44:53.199] [INFO] Thread is already completed.
|
|
[2026-09-13 11:44:54.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:80.6053 cpuTemp:64.0152 cpuMemory:33.6881 cpuFrequency:1510.4
|
|
[2026-09-13 11:44:54.597] [INFO] ICP Score:0.00582659
|
|
[2026-09-13 11:44:54.639] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
|
|
[2026-09-13 11:44:57.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.6166 cpuTemp:64.0232 cpuMemory:33.7115 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:00.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.8075 cpuTemp:64.1637 cpuMemory:33.7213 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:01.950] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:45:01.950] [INFO] To pl relocation request: {
|
|
"data": {
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"z": 0.0,
|
|
"q_x": 0.0,
|
|
"q_y": 0.0,
|
|
"q_z": 0.0,
|
|
"q_w": 1.0,
|
|
"address": "/home/unitree/test.pcd"
|
|
}
|
|
}
|
|
[2026-09-13 11:45:01.950] [INFO] Thread is already completed.
|
|
[2026-09-13 11:45:01.951] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:45:01.989] [INFO] Thread is already completed.
|
|
[2026-09-13 11:45:03.302] [INFO] ICP Score:0.00530398
|
|
[2026-09-13 11:45:03.346] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
|
|
[2026-09-13 11:45:03.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.5049 cpuTemp:64.0075 cpuMemory:33.7676 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:06.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.4311 cpuTemp:64.1248 cpuMemory:33.7015 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:09.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.5386 cpuTemp:64.0932 cpuMemory:33.7079 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:12.528] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.354 cpuTemp:64.1402 cpuMemory:33.7689 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:15.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.1357 cpuTemp:64.148 cpuMemory:33.8263 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:18.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.3775 cpuTemp:64.117 cpuMemory:33.7768 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:21.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.1683 cpuTemp:64.1167 cpuMemory:33.7484 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:24.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.3683 cpuTemp:64.07 cpuMemory:33.8119 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:27.520] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.0881 cpuTemp:64.1403 cpuMemory:33.7503 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:30.523] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.2023 cpuTemp:64.1087 cpuMemory:33.828 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:33.535] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.0581 cpuTemp:64.1328 cpuMemory:33.759 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:36.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.418 cpuTemp:64.1792 cpuMemory:33.7463 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:39.519] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4951 cpuTemp:64.2105 cpuMemory:33.7486 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:42.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.7691 cpuTemp:64.195 cpuMemory:33.7435 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:45.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6843 cpuTemp:64.1637 cpuMemory:33.7639 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.8255 cpuTemp:64.0855 cpuMemory:33.7311 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:99.0287 cpuTemp:64.14 cpuMemory:33.7376 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:54.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.1742 cpuTemp:64.101 cpuMemory:33.7511 cpuFrequency:1510.4
|
|
[2026-09-13 11:45:57.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.2615 cpuTemp:64.062 cpuMemory:33.7466 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:00.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.2921 cpuTemp:64.203 cpuMemory:33.8317 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:02.865] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9913278222084045,
|
|
"q_x": -0.002478076843544841,
|
|
"q_y": 0.12847214937210083,
|
|
"q_z": 0.027530523017048836,
|
|
"x": 2.1087806224823,
|
|
"y": -0.883734941482544,
|
|
"z": 0.037843622267246246
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:46:02.865] [INFO] To get pl status.
|
|
[2026-09-13 11:46:02.865] [INFO] Received pl status: {"type":"pos_info","sec":1789271162,"nanosec":865378686,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.21561969473871884,"y":-0.017864567870023183,"z":0.0230152476984707,"q_w":-0.9899431921116334,"q_x":0.012884358806236123,"q_y":-0.14007335978275418,"q_z":0.015030754111245251},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:02.865] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9913278222084044,"q_x":-0.002478076843544841,"q_y":0.12847214937210083,"q_z":0.027530523017048836,"x":2.1087806224823,"y":-0.883734941482544,"z":0.037843622267246246},"currentPose":{"x":-0.21561969473871884,"y":-0.017864567870023183,"z":0.0230152476984707,"q_w":-0.9899431921116334,"q_x":0.012884358806236123,"q_y":-0.14007335978275418,"q_z":0.015030754111245251},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:02.865] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:46:02.865] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:46:02.865] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:02.865] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:02.865] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:02.865] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:02.869] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:02.869] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:02.869] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:02.869] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:02.870] [INFO] Start control:
|
|
[2026-09-13 11:46:02.870] [INFO] Use normal control
|
|
[2026-09-13 11:46:03.521] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.5914 cpuTemp:64.1483 cpuMemory:33.7487 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:06.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.1397 cpuTemp:64.1402 cpuMemory:33.7672 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:09.026] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.7204151749610901,
|
|
"q_x": -0.09093709290027618,
|
|
"q_y": 0.09005041420459747,
|
|
"q_z": 0.6816328763961792,
|
|
"x": 3.1687591075897217,
|
|
"y": 0.6228572726249695,
|
|
"z": 0.03662211820483208
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:46:09.026] [INFO] To get pl status.
|
|
[2026-09-13 11:46:09.026] [INFO] Received pl status: {"type":"pos_info","sec":1789271169,"nanosec":26813747,"errorCode":0,"info":"","data":{"currentPose":{"x":2.033379455444505,"y":-0.9132804397628488,"z":0.029487523096456775,"q_w":-0.9901195429268476,"q_x":-0.014844306845515154,"q_y":-0.13336655457195815,"q_z":-0.04069765828904298},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:09.026] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":2.033379455444505,"y":-0.9132804397628488,"z":0.029487523096456775,"q_w":-0.9901195429268476,"q_x":-0.014844306845515154,"q_y":-0.13336655457195817,"q_z":-0.04069765828904298},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:09.027] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:46:09.027] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:46:09.027] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:09.027] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:09.027] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:09.027] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:09.027] [INFO] Thread is still running...
|
|
[2026-09-13 11:46:09.121] [INFO] Control end.
|
|
[2026-09-13 11:46:09.121] [INFO] Pub slam key info: {"type":"task_result","sec":1789271169,"nanosec":121334276,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:46:09.549] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.5044 cpuTemp:64.1637 cpuMemory:33.8292 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:10.046] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:10.046] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:10.046] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:10.046] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:10.046] [INFO] Start control:
|
|
[2026-09-13 11:46:10.046] [INFO] Use normal control
|
|
[2026-09-13 11:46:12.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.5118 cpuTemp:64.2337 cpuMemory:33.8243 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:15.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.8704 cpuTemp:64.1322 cpuMemory:33.7709 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:16.921] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": -0.011749320663511753,
|
|
"q_x": -0.12321607768535614,
|
|
"q_y": -0.0014850877923890948,
|
|
"q_z": 0.9923092126846313,
|
|
"x": 0.8019377589225769,
|
|
"y": 0.4491591453552246,
|
|
"z": 0.018221020698547363
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:46:16.921] [INFO] To get pl status.
|
|
[2026-09-13 11:46:16.921] [INFO] Received pl status: {"type":"pos_info","sec":1789271176,"nanosec":921903095,"errorCode":0,"info":"","data":{"currentPose":{"x":3.163828446371383,"y":0.5509074936640218,"z":0.02245749242654926,"q_w":-0.7511267709174693,"q_x":0.09655729076134884,"q_y":-0.09913207348009258,"q_z":-0.6454905852291429},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:16.921] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":-0.011749320663511751,"q_x":-0.12321607768535614,"q_y":-0.0014850877923890948,"q_z":0.9923092126846312,"x":0.8019377589225769,"y":0.4491591453552246,"z":0.018221020698547363},"currentPose":{"x":3.163828446371383,"y":0.5509074936640218,"z":0.02245749242654926,"q_w":-0.7511267709174693,"q_x":0.09655729076134884,"q_y":-0.09913207348009258,"q_z":-0.6454905852291429},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:16.922] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:46:16.922] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:46:16.922] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:16.922] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:16.922] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:16.922] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:16.922] [INFO] Thread is still running...
|
|
[2026-09-13 11:46:16.973] [INFO] Control end.
|
|
[2026-09-13 11:46:16.973] [INFO] Pub slam key info: {"type":"task_result","sec":1789271176,"nanosec":973850381,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:46:17.938] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:17.939] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:17.939] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:17.939] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:17.939] [INFO] Start control:
|
|
[2026-09-13 11:46:17.939] [INFO] Use normal control
|
|
[2026-09-13 11:46:18.517] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.1917 cpuTemp:64.2028 cpuMemory:33.8515 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:21.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6439 cpuTemp:64.195 cpuMemory:33.7865 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:24.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.4954 cpuTemp:64.2105 cpuMemory:33.7786 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:25.121] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.7204151749610901,
|
|
"q_x": -0.09093709290027618,
|
|
"q_y": 0.09005041420459747,
|
|
"q_z": 0.6816328763961792,
|
|
"x": 3.1687591075897217,
|
|
"y": 0.6228572726249695,
|
|
"z": 0.03662211820483208
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:46:25.121] [INFO] To get pl status.
|
|
[2026-09-13 11:46:25.121] [INFO] Received pl status: {"type":"pos_info","sec":1789271185,"nanosec":121881179,"errorCode":0,"info":"","data":{"currentPose":{"x":0.9002957724750167,"y":0.44424915163707746,"z":-0.012312555348404476,"q_w":0.0193933114929698,"q_x":0.09675553507140373,"q_y":-0.00036370611609009846,"q_z":-0.9951191554885498},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:25.121] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":0.9002957724750167,"y":0.44424915163707746,"z":-0.012312555348404476,"q_w":0.0193933114929698,"q_x":0.09675553507140372,"q_y":-0.00036370611609009846,"q_z":-0.9951191554885498},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:25.122] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:46:25.122] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:46:25.122] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:25.122] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:25.122] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:25.122] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:25.122] [INFO] Thread is still running...
|
|
[2026-09-13 11:46:25.215] [INFO] Control end.
|
|
[2026-09-13 11:46:25.215] [INFO] Pub slam key info: {"type":"task_result","sec":1789271185,"nanosec":215882363,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:46:26.151] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:26.151] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:26.151] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:26.151] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:26.151] [INFO] Start control:
|
|
[2026-09-13 11:46:26.151] [INFO] Use normal control
|
|
[2026-09-13 11:46:27.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.2436 cpuTemp:64.1637 cpuMemory:33.7832 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:30.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3184 cpuTemp:64.148 cpuMemory:33.7809 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:33.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.5494 cpuTemp:64.0855 cpuMemory:33.7882 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:36.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.6177 cpuTemp:64.1167 cpuMemory:33.7684 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:36.714] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9913278222084045,
|
|
"q_x": -0.002478076843544841,
|
|
"q_y": 0.12847214937210083,
|
|
"q_z": 0.027530523017048836,
|
|
"x": 2.1087806224823,
|
|
"y": -0.883734941482544,
|
|
"z": 0.037843622267246246
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:46:36.714] [INFO] To get pl status.
|
|
[2026-09-13 11:46:36.714] [INFO] Received pl status: {"type":"pos_info","sec":1789271196,"nanosec":714173214,"errorCode":0,"info":"","data":{"currentPose":{"x":3.180522184364075,"y":0.6168145472157879,"z":0.02356421855026252,"q_w":-0.7310089615997332,"q_x":0.0856389093358952,"q_y":-0.11955016045738577,"q_z":-0.6663329756234877},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:36.714] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9913278222084044,"q_x":-0.002478076843544841,"q_y":0.12847214937210083,"q_z":0.027530523017048836,"x":2.1087806224823,"y":-0.883734941482544,"z":0.037843622267246246},"currentPose":{"x":3.180522184364075,"y":0.6168145472157879,"z":0.02356421855026252,"q_w":-0.7310089615997332,"q_x":0.0856389093358952,"q_y":-0.11955016045738576,"q_z":-0.6663329756234877},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:36.714] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:46:36.714] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:46:36.714] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:36.714] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:36.714] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:36.714] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:36.714] [INFO] Thread is still running...
|
|
[2026-09-13 11:46:36.802] [INFO] Control end.
|
|
[2026-09-13 11:46:36.803] [INFO] Pub slam key info: {"type":"task_result","sec":1789271196,"nanosec":802895531,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:46:37.735] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:37.735] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:37.735] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:37.735] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:37.735] [INFO] Start control:
|
|
[2026-09-13 11:46:37.735] [INFO] Use normal control
|
|
[2026-09-13 11:46:39.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.3473 cpuTemp:64.1402 cpuMemory:33.7917 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:42.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.4258 cpuTemp:64.2028 cpuMemory:33.6986 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:45.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.9923 cpuTemp:64.1715 cpuMemory:33.7545 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.2542 cpuTemp:64.1795 cpuMemory:33.8418 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:49.647] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.7204151749610901,
|
|
"q_x": -0.09093709290027618,
|
|
"q_y": 0.09005041420459747,
|
|
"q_z": 0.6816328763961792,
|
|
"x": 3.1687591075897217,
|
|
"y": 0.6228572726249695,
|
|
"z": 0.03662211820483208
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:46:49.647] [INFO] To get pl status.
|
|
[2026-09-13 11:46:49.647] [INFO] Received pl status: {"type":"pos_info","sec":1789271209,"nanosec":647925072,"errorCode":0,"info":"","data":{"currentPose":{"x":2.1138906437676726,"y":-0.884119956982037,"z":0.034469639396738236,"q_w":0.992952463228477,"q_x":-0.013238844520408334,"q_y":0.1176804402453147,"q_z":-0.004631711123686773},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:49.651] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":2.113890643767673,"y":-0.884119956982037,"z":0.034469639396738236,"q_w":0.992952463228477,"q_x":-0.013238844520408334,"q_y":0.1176804402453147,"q_z":-0.004631711123686773},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:49.651] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:46:49.651] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:46:49.651] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:49.651] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:49.651] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:49.651] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:49.651] [INFO] Thread is still running...
|
|
[2026-09-13 11:46:49.668] [INFO] Control end.
|
|
[2026-09-13 11:46:49.668] [INFO] Pub slam key info: {"type":"task_result","sec":1789271209,"nanosec":668508325,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:46:50.674] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:50.674] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:50.674] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:50.674] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:50.674] [INFO] Start control:
|
|
[2026-09-13 11:46:50.674] [INFO] Use normal control
|
|
[2026-09-13 11:46:51.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.1512 cpuTemp:64.1322 cpuMemory:33.7662 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:54.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.9026 cpuTemp:64.1557 cpuMemory:33.762 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:57.399] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": -0.011749320663511753,
|
|
"q_x": -0.12321607768535614,
|
|
"q_y": -0.0014850877923890948,
|
|
"q_z": 0.9923092126846313,
|
|
"x": 0.8019377589225769,
|
|
"y": 0.4491591453552246,
|
|
"z": 0.018221020698547363
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:46:57.399] [INFO] To get pl status.
|
|
[2026-09-13 11:46:57.399] [INFO] Received pl status: {"type":"pos_info","sec":1789271217,"nanosec":399819002,"errorCode":0,"info":"","data":{"currentPose":{"x":3.1419632012696357,"y":0.5322624175768785,"z":0.03229167295433452,"q_w":0.7398672315582344,"q_x":-0.10524785263863468,"q_y":0.11061268952354579,"q_z":0.6551978343200456},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:57.399] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":-0.011749320663511751,"q_x":-0.12321607768535614,"q_y":-0.0014850877923890948,"q_z":0.9923092126846312,"x":0.8019377589225769,"y":0.4491591453552246,"z":0.018221020698547363},"currentPose":{"x":3.1419632012696357,"y":0.5322624175768785,"z":0.03229167295433452,"q_w":0.7398672315582344,"q_x":-0.10524785263863468,"q_y":0.1106126895235458,"q_z":0.6551978343200456},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:46:57.400] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:46:57.400] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:46:57.400] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:57.400] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:57.400] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:57.400] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:57.400] [INFO] Thread is still running...
|
|
[2026-09-13 11:46:57.422] [INFO] Control end.
|
|
[2026-09-13 11:46:57.422] [INFO] Pub slam key info: {"type":"task_result","sec":1789271217,"nanosec":422124810,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:46:57.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.9873 cpuTemp:64.187 cpuMemory:33.8348 cpuFrequency:1510.4
|
|
[2026-09-13 11:46:58.413] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:46:58.413] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:46:58.414] [INFO] node(0) name:8888
|
|
[2026-09-13 11:46:58.414] [INFO] node(1) name:9999
|
|
[2026-09-13 11:46:58.414] [INFO] Start control:
|
|
[2026-09-13 11:46:58.414] [INFO] Use normal control
|
|
[2026-09-13 11:47:00.525] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.1733 cpuTemp:64.2028 cpuMemory:33.7544 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:03.528] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.9819 cpuTemp:64.2105 cpuMemory:33.8293 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:05.881] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.7204151749610901,
|
|
"q_x": -0.09093709290027618,
|
|
"q_y": 0.09005041420459747,
|
|
"q_z": 0.6816328763961792,
|
|
"x": 3.1687591075897217,
|
|
"y": 0.6228572726249695,
|
|
"z": 0.03662211820483208
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:47:05.881] [INFO] To get pl status.
|
|
[2026-09-13 11:47:05.881] [INFO] Received pl status: {"type":"pos_info","sec":1789271225,"nanosec":881709882,"errorCode":0,"info":"","data":{"currentPose":{"x":0.897416037340229,"y":0.44168380058766127,"z":-0.002312146689169657,"q_w":-0.021829540058861865,"q_x":-0.12564022341421766,"q_y":-0.003282766624778493,"q_z":0.9918302419691242},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:47:05.881] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":0.897416037340229,"y":0.44168380058766127,"z":-0.002312146689169657,"q_w":-0.021829540058861865,"q_x":-0.12564022341421766,"q_y":-0.003282766624778493,"q_z":0.9918302419691242},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:47:05.882] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:47:05.882] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:47:05.882] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:47:05.882] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:47:05.882] [INFO] node(0) name:8888
|
|
[2026-09-13 11:47:05.882] [INFO] node(1) name:9999
|
|
[2026-09-13 11:47:05.882] [INFO] Thread is still running...
|
|
[2026-09-13 11:47:05.947] [INFO] Control end.
|
|
[2026-09-13 11:47:05.947] [INFO] Pub slam key info: {"type":"task_result","sec":1789271225,"nanosec":947037779,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:47:06.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6353 cpuTemp:64.195 cpuMemory:33.7491 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:06.901] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:47:06.901] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:47:06.901] [INFO] node(0) name:8888
|
|
[2026-09-13 11:47:06.901] [INFO] node(1) name:9999
|
|
[2026-09-13 11:47:06.901] [INFO] Start control:
|
|
[2026-09-13 11:47:06.901] [INFO] Use normal control
|
|
[2026-09-13 11:47:09.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.6374 cpuTemp:64.148 cpuMemory:33.7002 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:11.922] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
|
|
[2026-09-13 11:47:11.922] [INFO] To planner request: {"data": {}}
|
|
[2026-09-13 11:47:12.038] [INFO] Received planner response (0):
|
|
[2026-09-13 11:47:12.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0755 cpuTemp:64.2027 cpuMemory:33.756 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:15.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.9643 cpuTemp:64.1478 cpuMemory:33.7525 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:18.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.968 cpuTemp:64.1093 cpuMemory:33.7564 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:20.716] [INFO] Thread is still running...
|
|
[2026-09-13 11:47:20.790] [INFO] Control end.
|
|
[2026-09-13 11:47:20.790] [INFO] Pub slam key info: {"type":"task_result","sec":1789271240,"nanosec":790600867,"errorCode":14,"info":"Task interrupted.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:47:21.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2507 cpuTemp:64.2417 cpuMemory:33.7514 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:21.738] [WARNING] Joystick operation intervention, stop navigation.
|
|
[2026-09-13 11:47:24.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4049 cpuTemp:64.1403 cpuMemory:33.7552 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:27.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.4871 cpuTemp:64.148 cpuMemory:33.7441 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:30.520] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3492 cpuTemp:64.1715 cpuMemory:33.7622 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:33.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.1077 cpuTemp:64.148 cpuMemory:33.7618 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:36.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.0762 cpuTemp:64.2185 cpuMemory:33.7856 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:39.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2833 cpuTemp:64.148 cpuMemory:33.8368 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:42.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7551 cpuTemp:64.0853 cpuMemory:33.837 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:43.882] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": -0.011749320663511753,
|
|
"q_x": -0.12321607768535614,
|
|
"q_y": -0.0014850877923890948,
|
|
"q_z": 0.9923092126846313,
|
|
"x": 0.8019377589225769,
|
|
"y": 0.4491591453552246,
|
|
"z": 0.018221020698547363
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:47:43.882] [INFO] To get pl status.
|
|
[2026-09-13 11:47:43.882] [INFO] Received pl status: {"type":"pos_info","sec":1789271263,"nanosec":882900578,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.19556602150716695,"y":0.0011083857871148,"z":0.024902950683704874,"q_w":0.991407651035608,"q_x":-0.014789103590799846,"q_y":0.1277465841115229,"q_z":-0.023936627391438054},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:47:43.882] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":-0.011749320663511751,"q_x":-0.12321607768535614,"q_y":-0.0014850877923890948,"q_z":0.9923092126846312,"x":0.8019377589225769,"y":0.4491591453552246,"z":0.018221020698547363},"currentPose":{"x":-0.19556602150716695,"y":0.0011083857871148,"z":0.02490295068370487,"q_w":0.991407651035608,"q_x":-0.014789103590799846,"q_y":0.1277465841115229,"q_z":-0.023936627391438058},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:47:43.883] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:47:43.883] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:47:43.883] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:47:43.883] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:47:43.883] [INFO] node(0) name:8888
|
|
[2026-09-13 11:47:43.883] [INFO] node(1) name:9999
|
|
[2026-09-13 11:47:43.884] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:47:43.884] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:47:43.884] [INFO] node(0) name:8888
|
|
[2026-09-13 11:47:43.884] [INFO] node(1) name:9999
|
|
[2026-09-13 11:47:43.884] [INFO] Start control:
|
|
[2026-09-13 11:47:43.884] [INFO] Use normal control
|
|
[2026-09-13 11:47:45.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.0518 cpuTemp:64.1245 cpuMemory:33.8219 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.6772 cpuTemp:64.0387 cpuMemory:33.7681 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.8731 cpuTemp:64.1637 cpuMemory:33.7425 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:51.700] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.7204151749610901,
|
|
"q_x": -0.09093709290027618,
|
|
"q_y": 0.09005041420459747,
|
|
"q_z": 0.6816328763961792,
|
|
"x": 3.1687591075897217,
|
|
"y": 0.6228572726249695,
|
|
"z": 0.03662211820483208
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:47:51.700] [INFO] To get pl status.
|
|
[2026-09-13 11:47:51.700] [INFO] Received pl status: {"type":"pos_info","sec":1789271271,"nanosec":700516947,"errorCode":0,"info":"","data":{"currentPose":{"x":0.8011795100661083,"y":0.46663974284824855,"z":0.012049989741838891,"q_w":-0.0025588014589492773,"q_x":-0.13770608793930092,"q_y":0.014019666923807536,"q_z":0.990370604783327},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:47:51.700] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":0.8011795100661083,"y":0.46663974284824855,"z":0.012049989741838891,"q_w":-0.0025588014589492773,"q_x":-0.13770608793930092,"q_y":0.014019666923807536,"q_z":0.990370604783327},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:47:51.700] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:47:51.700] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:47:51.700] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:47:51.700] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:47:51.700] [INFO] node(0) name:8888
|
|
[2026-09-13 11:47:51.700] [INFO] node(1) name:9999
|
|
[2026-09-13 11:47:51.700] [INFO] Thread is still running...
|
|
[2026-09-13 11:47:51.705] [INFO] Control end.
|
|
[2026-09-13 11:47:51.705] [INFO] Pub slam key info: {"type":"task_result","sec":1789271271,"nanosec":705840295,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:47:52.727] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:47:52.727] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:47:52.727] [INFO] node(0) name:8888
|
|
[2026-09-13 11:47:52.727] [INFO] node(1) name:9999
|
|
[2026-09-13 11:47:52.727] [INFO] Start control:
|
|
[2026-09-13 11:47:52.727] [INFO] Use normal control
|
|
[2026-09-13 11:47:54.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.7907 cpuTemp:64.1012 cpuMemory:33.7535 cpuFrequency:1510.4
|
|
[2026-09-13 11:47:57.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4054 cpuTemp:64.07 cpuMemory:33.7523 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:00.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4271 cpuTemp:63.984 cpuMemory:33.7461 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:03.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.5418 cpuTemp:64.0462 cpuMemory:33.766 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:06.519] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0689 cpuTemp:64.0622 cpuMemory:33.7295 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:06.914] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.9913278222084045,
|
|
"q_x": -0.002478076843544841,
|
|
"q_y": 0.12847214937210083,
|
|
"q_z": 0.027530523017048836,
|
|
"x": 2.1087806224823,
|
|
"y": -0.883734941482544,
|
|
"z": 0.037843622267246246
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:48:06.914] [INFO] To get pl status.
|
|
[2026-09-13 11:48:06.914] [INFO] Received pl status: {"type":"pos_info","sec":1789271286,"nanosec":914337118,"errorCode":0,"info":"","data":{"currentPose":{"x":3.18490330401338,"y":0.5961058868352827,"z":0.024615288603776736,"q_w":0.7176479725882161,"q_x":-0.1381704926389863,"q_y":0.08477468760096252,"q_z":0.6772765718272574},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:48:06.914] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9913278222084044,"q_x":-0.002478076843544841,"q_y":0.12847214937210083,"q_z":0.027530523017048836,"x":2.1087806224823,"y":-0.883734941482544,"z":0.037843622267246246},"currentPose":{"x":3.18490330401338,"y":0.5961058868352827,"z":0.024615288603776736,"q_w":0.7176479725882161,"q_x":-0.1381704926389863,"q_y":0.08477468760096252,"q_z":0.6772765718272574},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:48:06.914] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:48:06.914] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:48:06.914] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:48:06.914] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:48:06.914] [INFO] node(0) name:8888
|
|
[2026-09-13 11:48:06.914] [INFO] node(1) name:9999
|
|
[2026-09-13 11:48:06.914] [INFO] Thread is still running...
|
|
[2026-09-13 11:48:06.986] [INFO] Control end.
|
|
[2026-09-13 11:48:06.987] [INFO] Pub slam key info: {"type":"task_result","sec":1789271286,"nanosec":986928524,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:48:07.935] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:48:07.935] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:48:07.939] [INFO] node(0) name:8888
|
|
[2026-09-13 11:48:07.939] [INFO] node(1) name:9999
|
|
[2026-09-13 11:48:07.939] [INFO] Start control:
|
|
[2026-09-13 11:48:07.939] [INFO] Use normal control
|
|
[2026-09-13 11:48:09.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.6273 cpuTemp:64.0777 cpuMemory:33.7257 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:12.518] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.27 cpuTemp:64.0935 cpuMemory:33.7239 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:15.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.6085 cpuTemp:64.1087 cpuMemory:33.7273 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:18.520] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.1024 cpuTemp:64.07 cpuMemory:33.7203 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:21.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.9914 cpuTemp:64.07 cpuMemory:33.7299 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:24.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.8717 cpuTemp:64.109 cpuMemory:33.8066 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:27.191] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.7204151749610901,
|
|
"q_x": -0.09093709290027618,
|
|
"q_y": 0.09005041420459747,
|
|
"q_z": 0.6816328763961792,
|
|
"x": 3.1687591075897217,
|
|
"y": 0.6228572726249695,
|
|
"z": 0.03662211820483208
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:48:27.191] [INFO] To get pl status.
|
|
[2026-09-13 11:48:27.191] [INFO] Received pl status: {"type":"pos_info","sec":1789271307,"nanosec":191466134,"errorCode":0,"info":"","data":{"currentPose":{"x":2.0921641144749827,"y":-0.8919275498167457,"z":0.03921829846078489,"q_w":-0.9895793784706707,"q_x":0.003737523208083854,"q_y":-0.14055820621024376,"q_z":0.03101733858390748},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:48:27.191] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":2.0921641144749827,"y":-0.8919275498167457,"z":0.03921829846078489,"q_w":-0.9895793784706708,"q_x":0.003737523208083854,"q_y":-0.14055820621024376,"q_z":0.03101733858390748},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:48:27.191] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:48:27.191] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:48:27.191] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:48:27.191] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:48:27.191] [INFO] node(0) name:8888
|
|
[2026-09-13 11:48:27.191] [INFO] node(1) name:9999
|
|
[2026-09-13 11:48:27.191] [INFO] Thread is still running...
|
|
[2026-09-13 11:48:27.291] [INFO] Control end.
|
|
[2026-09-13 11:48:27.292] [INFO] Pub slam key info: {"type":"task_result","sec":1789271307,"nanosec":291925551,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:48:27.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.7586 cpuTemp:64.1635 cpuMemory:33.8078 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:28.211] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:48:28.211] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:48:28.211] [INFO] node(0) name:8888
|
|
[2026-09-13 11:48:28.211] [INFO] node(1) name:9999
|
|
[2026-09-13 11:48:28.211] [INFO] Start control:
|
|
[2026-09-13 11:48:28.211] [INFO] Use normal control
|
|
[2026-09-13 11:48:30.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.6952 cpuTemp:64.1715 cpuMemory:33.7132 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:33.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.251 cpuTemp:64.1247 cpuMemory:33.6852 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:34.754] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": -0.011749320663511753,
|
|
"q_x": -0.12321607768535614,
|
|
"q_y": -0.0014850877923890948,
|
|
"q_z": 0.9923092126846313,
|
|
"x": 0.8019377589225769,
|
|
"y": 0.4491591453552246,
|
|
"z": 0.018221020698547363
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:48:34.754] [INFO] To get pl status.
|
|
[2026-09-13 11:48:34.754] [INFO] Received pl status: {"type":"pos_info","sec":1789271314,"nanosec":754961845,"errorCode":0,"info":"","data":{"currentPose":{"x":3.1528268413475873,"y":0.5674822355521616,"z":0.024881687321356517,"q_w":-0.7287779482385736,"q_x":0.09612915961015539,"q_y":-0.09017922412957383,"q_z":-0.6719446363869634},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:48:34.755] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":-0.011749320663511751,"q_x":-0.12321607768535614,"q_y":-0.0014850877923890948,"q_z":0.9923092126846312,"x":0.8019377589225769,"y":0.4491591453552246,"z":0.018221020698547363},"currentPose":{"x":3.1528268413475873,"y":0.5674822355521616,"z":0.024881687321356517,"q_w":-0.7287779482385736,"q_x":0.0961291596101554,"q_y":-0.09017922412957384,"q_z":-0.6719446363869634},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:48:34.755] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:48:34.755] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:48:34.755] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:48:34.755] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:48:34.755] [INFO] node(0) name:8888
|
|
[2026-09-13 11:48:34.755] [INFO] node(1) name:9999
|
|
[2026-09-13 11:48:34.755] [INFO] Thread is still running...
|
|
[2026-09-13 11:48:34.857] [INFO] Control end.
|
|
[2026-09-13 11:48:34.857] [INFO] Pub slam key info: {"type":"task_result","sec":1789271314,"nanosec":857866976,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:48:35.779] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:48:35.779] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:48:35.779] [INFO] node(0) name:8888
|
|
[2026-09-13 11:48:35.779] [INFO] node(1) name:9999
|
|
[2026-09-13 11:48:35.779] [INFO] Start control:
|
|
[2026-09-13 11:48:35.779] [INFO] Use normal control
|
|
[2026-09-13 11:48:36.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4418 cpuTemp:64.1087 cpuMemory:31.2888 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:39.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1758 cpuTemp:64.1322 cpuMemory:31.9603 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:42.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.4195 cpuTemp:64.1247 cpuMemory:32.3424 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:42.548] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
|
|
"data": {
|
|
"mode": 1,
|
|
"speed": 0.800000011920929,
|
|
"targetPose": {
|
|
"q_w": 0.7204151749610901,
|
|
"q_x": -0.09093709290027618,
|
|
"q_y": 0.09005041420459747,
|
|
"q_z": 0.6816328763961792,
|
|
"x": 3.1687591075897217,
|
|
"y": 0.6228572726249695,
|
|
"z": 0.03662211820483208
|
|
}
|
|
}
|
|
}
|
|
[2026-09-13 11:48:42.548] [INFO] To get pl status.
|
|
[2026-09-13 11:48:42.548] [INFO] Received pl status: {"type":"pos_info","sec":1789271322,"nanosec":548560797,"errorCode":0,"info":"","data":{"currentPose":{"x":0.8894188259989912,"y":0.4567817649932527,"z":0.0007023651710449283,"q_w":0.025587671260111317,"q_x":0.10639575786649728,"q_y":0.0007362963401076963,"q_z":-0.9939943016210897},"pcdName":"test","address":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:48:42.548] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":0.8894188259989912,"y":0.4567817649932527,"z":0.0007023651710449283,"q_w":0.025587671260111317,"q_x":0.10639575786649728,"q_y":0.0007362963401076963,"q_z":-0.9939943016210896},"pcdName":"/home/unitree/test.pcd"}}
|
|
[2026-09-13 11:48:42.548] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
|
|
[2026-09-13 11:48:42.548] [INFO] Received graph response: slices size (1)
|
|
[2026-09-13 11:48:42.548] [INFO] task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:48:42.548] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:48:42.548] [INFO] node(0) name:8888
|
|
[2026-09-13 11:48:42.548] [INFO] node(1) name:9999
|
|
[2026-09-13 11:48:42.548] [INFO] Thread is still running...
|
|
[2026-09-13 11:48:42.635] [INFO] Control end.
|
|
[2026-09-13 11:48:42.635] [INFO] Pub slam key info: {"type":"task_result","sec":1789271322,"nanosec":635558288,"errorCode":15,"info":"Task active interruption.","data":{"targetNodeName":9999,"is_arrived":false}}
|
|
[2026-09-13 11:48:43.560] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
|
|
[2026-09-13 11:48:43.560] [INFO] edge(0) name:9999
|
|
[2026-09-13 11:48:43.560] [INFO] node(0) name:8888
|
|
[2026-09-13 11:48:43.561] [INFO] node(1) name:9999
|
|
[2026-09-13 11:48:43.561] [INFO] Start control:
|
|
[2026-09-13 11:48:43.561] [INFO] Use normal control
|
|
[2026-09-13 11:48:45.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0026 cpuTemp:64.1557 cpuMemory:32.834 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:46.914] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
|
|
[2026-09-13 11:48:46.914] [INFO] To planner request: {"data": {}}
|
|
[2026-09-13 11:48:47.022] [INFO] Received planner response (0):
|
|
[2026-09-13 11:48:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0337 cpuTemp:64.148 cpuMemory:33.2762 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:51.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.5457 cpuTemp:64.148 cpuMemory:33.6525 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:54.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3239 cpuTemp:64.117 cpuMemory:33.6786 cpuFrequency:1510.4
|
|
[2026-09-13 11:48:57.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3716 cpuTemp:64.109 cpuMemory:33.7129 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:00.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.8464 cpuTemp:64.2108 cpuMemory:33.6954 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:03.516] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7227 cpuTemp:64.1637 cpuMemory:33.6894 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:06.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.8051 cpuTemp:64.109 cpuMemory:33.7551 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:09.515] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.0841 cpuTemp:64.0778 cpuMemory:33.7772 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:12.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.3795 cpuTemp:64.0778 cpuMemory:33.7873 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:15.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.2453 cpuTemp:64.0468 cpuMemory:33.7706 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:18.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.8967 cpuTemp:64.0542 cpuMemory:33.701 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:21.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5758 cpuTemp:64.1247 cpuMemory:33.7239 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:24.535] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.9467 cpuTemp:64.1245 cpuMemory:33.6796 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:27.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.4948 cpuTemp:64.1012 cpuMemory:33.7409 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:30.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.1144 cpuTemp:64.0935 cpuMemory:33.7481 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:33.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.7587 cpuTemp:64.0543 cpuMemory:33.754 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:36.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.9767 cpuTemp:64.117 cpuMemory:33.7492 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:39.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.8523 cpuTemp:64.1087 cpuMemory:33.7575 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:42.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.3876 cpuTemp:64.1637 cpuMemory:33.7677 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:43.235] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
|
|
[2026-09-13 11:49:43.235] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
|
|
[2026-09-13 11:49:43.236] [INFO] Thread is still running...
|
|
[2026-09-13 11:49:43.292] [INFO] Thread is already completed.
|
|
[2026-09-13 11:49:43.293] [INFO] lidar_type = mid360
|
|
[2026-09-13 11:49:43.334] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
|
|
[2026-09-13 11:49:45.514] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3579 cpuTemp:64.0777 cpuMemory:33.4383 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:48.513] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.5073 cpuTemp:64.156 cpuMemory:33.5408 cpuFrequency:1510.4
|
|
[2026-09-13 11:49:51.532] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.7919 cpuTemp:64.195 cpuMemory:33.5214 cpuFrequency:1510.4
|