Go2_navigation/unitree_slam/bin/logs/controller/INFO_2026-09-13.log

[2026-09-13 10:52:57.750 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:25] ---------->>> ................... <<<----------
[2026-09-13 10:52:57.751 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:26] ---------->>> Controller Launched <<<----------
[2026-09-13 10:52:57.861 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:40] ---->Init pose ctrl module
[2026-09-13 10:52:57.861 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:43] ---->Init pub sub module
[2026-09-13 10:52:58.063 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:57] ----->>> Controller ConfigFile Load
[2026-09-13 10:52:58.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:62] ----->>> Controller Timer Init 
[2026-09-13 10:52:58.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:64] ----->>> Controller CtrlInfo Load
[2026-09-13 10:52:58.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:76] Controller timer is launched.
[2026-09-13 10:52:58.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:66] ----->>> Controller launch_timer Load
[2026-09-13 10:58:04.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:25] ---------->>> ................... <<<----------
[2026-09-13 10:58:04.048 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:26] ---------->>> Controller Launched <<<----------
[2026-09-13 10:58:04.159 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:40] ---->Init pose ctrl module
[2026-09-13 10:58:04.159 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:43] ---->Init pub sub module
[2026-09-13 10:58:04.362 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:57] ----->>> Controller ConfigFile Load
[2026-09-13 10:58:04.362 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:62] ----->>> Controller Timer Init 
[2026-09-13 10:58:04.362 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:64] ----->>> Controller CtrlInfo Load
[2026-09-13 10:58:04.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:76] Controller timer is launched.
[2026-09-13 10:58:04.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:66] ----->>> Controller launch_timer Load
[2026-09-13 11:07:35.117 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:25] ---------->>> ................... <<<----------
[2026-09-13 11:07:35.117 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:26] ---------->>> Controller Launched <<<----------
[2026-09-13 11:07:35.232 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:40] ---->Init pose ctrl module
[2026-09-13 11:07:35.232 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:43] ---->Init pub sub module
[2026-09-13 11:07:35.437 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:57] ----->>> Controller ConfigFile Load
[2026-09-13 11:07:35.437 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:62] ----->>> Controller Timer Init 
[2026-09-13 11:07:35.437 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:64] ----->>> Controller CtrlInfo Load
[2026-09-13 11:07:35.438 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:76] Controller timer is launched.
[2026-09-13 11:07:35.438 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:66] ----->>> Controller launch_timer Load
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.241019, -0.00938859, -0.0398354
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:30.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:30.478 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:30.478 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:30.488 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:30.488 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:30.488 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:30.488 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:30.488 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.24033, -0.00966941, -0.0398076
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:30.489 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:30.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:30.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:31.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:31.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.000842286
[2026-09-13 11:31:31.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0993044, 0.00314159, 0.000842286
[2026-09-13 11:31:31.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:31.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:31.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:31.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:31.896 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:31.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:31.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:31.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:31.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:31.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:31.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:31.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:31.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.096758, -0.00315441, 0.00599316
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:31.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:31.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:31.994 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:31.995 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:32.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:32.073 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00285315
[2026-09-13 11:31:32.073 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0794178, -0.000746656, -0.00285315
[2026-09-13 11:31:32.073 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:32.133 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:32.133 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:32.140 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:32.141 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:32.141 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:32.141 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:32.141 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:32.154 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:32.156 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:32.156 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:32.156 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0778223, 0.00465612, 0.00545044
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:32.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:32.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:32.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:32.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00452488
[2026-09-13 11:31:32.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0800002, -0.0088038, -0.00452488
[2026-09-13 11:31:32.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:32.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:32.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:32.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:32.368 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:32.368 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:32.368 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:32.368 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0871707, 0.00911264, 0.00953184
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:32.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:32.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:32.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:32.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0217366
[2026-09-13 11:31:32.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0969676, -0.0126499, -0.0217366
[2026-09-13 11:31:32.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:32.588 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:32.588 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:32.591 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:32.592 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:32.593 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:32.593 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:32.593 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:32.614 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:32.614 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:32.614 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:32.614 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:32.614 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:32.614 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:32.614 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:32.614 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0978488, 0.0102678, 0.0185752
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:32.615 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:32.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:32.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:32.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:32.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:32.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:32.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:32.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:32.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:32.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0963535, -0.0033233, 0.00602596
[2026-09-13 11:31:32.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:32.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:32.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:32.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:32.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:32.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:32.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:32.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:33.017 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:33.017 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:33.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:33.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0112947
[2026-09-13 11:31:33.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0967676, -0.0085041, -0.0112947
[2026-09-13 11:31:33.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:33.118 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:33.118 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:33.122 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:33.123 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:33.123 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:33.123 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:33.123 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:33.138 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:33.138 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:33.138 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:33.138 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:33.138 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0751534, 0.00373319, 0.00699418
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:33.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:33.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:33.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:33.270 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.015428
[2026-09-13 11:31:33.270 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0610903, -0.00626157, -0.015428
[2026-09-13 11:31:33.270 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:33.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:33.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:33.353 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:33.354 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:33.354 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:33.354 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:33.354 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:33.379 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:33.379 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:33.379 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:33.379 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0669347, 0.00503494, 0.0207964
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:33.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:33.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:33.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:33.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0159301
[2026-09-13 11:31:33.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0794175, -0.00442653, -0.0159301
[2026-09-13 11:31:33.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:33.583 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:33.583 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:33.588 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:33.589 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:33.589 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:33.589 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:33.589 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0812287, 0.00520284, 0.0180346
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:33.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:33.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:33.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:33.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:33.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:33.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.017514
[2026-09-13 11:31:33.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0845158, -0.00665745, -0.017514
[2026-09-13 11:31:33.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:33.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:33.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:33.824 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:33.825 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:33.825 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:33.825 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:33.825 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0865452, 0.0037536, 0.0170028
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:33.845 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:33.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:33.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:33.925 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:33.926 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:33.927 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:33.927 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:33.927 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:33.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:33.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.017836
[2026-09-13 11:31:33.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0917597, -0.0054282, -0.017836
[2026-09-13 11:31:33.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:33.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:33.975 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:33.975 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:33.975 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:33.975 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:33.996 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:33.997 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:33.997 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:33.997 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:33.997 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:34.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:34.025 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:34.025 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:34.025 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:34.025 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:34.056 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:34.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:34.058 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:34.058 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:34.058 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:34.058 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:34.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:34.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0937578, 0.00367209, 0.0185229
[2026-09-13 11:31:34.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:34.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:34.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:34.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:34.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:34.060 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:34.061 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:34.061 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:34.061 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:34.061 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:34.063 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:34.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:34.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:34.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:34.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0942435, 0.00390345, 0.0177822
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:34.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:34.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:34.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:34.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:34.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:34.264 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:34.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0166058
[2026-09-13 11:31:34.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0972609, -0.00937847, -0.0166058
[2026-09-13 11:31:34.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:34.292 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:34.292 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:34.296 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:34.297 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:34.297 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:34.297 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:34.297 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0974331, 0.00681997, 0.0152525
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:34.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:34.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:34.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:34.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:34.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:34.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0156628
[2026-09-13 11:31:34.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0964859, -0.00976079, -0.0156628
[2026-09-13 11:31:34.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:34.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:34.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:34.526 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:34.527 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:34.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:34.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:34.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:34.543 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:34.543 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:34.543 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:34.543 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:34.543 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:34.543 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:34.544 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:34.544 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:34.547 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:34.548 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:34.548 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:34.548 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:34.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:34.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:34.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:34.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0969888, 0.00649405, 0.0148904
[2026-09-13 11:31:34.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:34.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:34.553 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:34.553 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:34.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:34.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:34.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0146254
[2026-09-13 11:31:34.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0966635, -0.00697729, -0.0146254
[2026-09-13 11:31:34.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:34.758 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:34.758 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:34.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:34.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:34.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:34.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:34.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:34.782 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0976565, 0.00710891, 0.0140854
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:34.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:34.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:34.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:34.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:34.975 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0129877
[2026-09-13 11:31:34.976 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0998556, -0.00633491, -0.0129877
[2026-09-13 11:31:34.976 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:34.995 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:34.995 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:35.000 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:35.007 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:35.007 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:35.007 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:35.007 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:35.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:35.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:35.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:35.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0999608, 0.00486949, 0.0118931
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:35.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:35.062 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:35.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:35.073 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:35.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:35.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:35.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:35.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:35.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:35.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:35.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:35.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:35.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:35.132 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:35.133 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:35.133 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:35.133 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.102912, 0.00610078, 0.0121363
[2026-09-13 11:31:35.133 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:35.133 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:35.133 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:35.133 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:35.134 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:35.140 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:35.140 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:35.140 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:35.140 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:35.242 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:35.242 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:35.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:35.369 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00956626
[2026-09-13 11:31:35.369 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0998038, -0.00431852, -0.00956626
[2026-09-13 11:31:35.369 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:35.430 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:35.430 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:35.434 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:35.435 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:35.435 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:35.436 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:35.436 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0875129, 0.00467291, 0.00834115
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:35.456 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:35.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:35.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:35.578 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0158149
[2026-09-13 11:31:35.578 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0716769, -0.00753868, -0.0158149
[2026-09-13 11:31:35.578 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:35.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:35.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:35.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:35.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:35.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:35.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:35.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:35.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:35.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:35.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:35.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0776869, 0.0056659, 0.0193201
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:35.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:35.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:35.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:35.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0150532
[2026-09-13 11:31:35.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0884287, -0.00743514, -0.0150532
[2026-09-13 11:31:35.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:35.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:35.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:35.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:35.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:35.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:35.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:35.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:35.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:35.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:35.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.088052, 0.00360194, 0.0165155
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:35.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:35.911 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:35.911 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:35.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:36.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:36.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0103893
[2026-09-13 11:31:36.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0916421, -0.00697313, -0.0103893
[2026-09-13 11:31:36.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:36.114 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:36.114 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:36.118 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.140 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0899627, 0.00463191, 0.0122546
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:36.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:36.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:36.185 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.189 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.189 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.189 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.189 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.210 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.213 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.213 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.213 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.213 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.238 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.241 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.241 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.241 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.241 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.261 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.263 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.263 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.263 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.264 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:36.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0102647
[2026-09-13 11:31:36.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0929686, -0.00681442, -0.0102647
[2026-09-13 11:31:36.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:36.294 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.295 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.295 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.295 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.296 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.318 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.320 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.320 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.320 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0937165, 0.00560459, 0.00917222
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:36.344 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:36.354 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:36.354 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:36.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.361 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.361 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.361 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.361 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:36.383 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:36.384 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:36.384 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:36.384 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0956023, 0.00649039, 0.00967634
[2026-09-13 11:31:36.384 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:36.384 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:36.384 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:36.384 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:36.451 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:36.452 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:36.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:36.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:36.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00898454
[2026-09-13 11:31:36.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0961465, -0.00768151, -0.00898454
[2026-09-13 11:31:36.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:36.599 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:36.599 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:36.603 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.604 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.604 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.604 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.604 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0950666, 0.00704923, 0.008957
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:36.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:36.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:36.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:36.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00921958
[2026-09-13 11:31:36.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0937636, -0.00538947, -0.00921958
[2026-09-13 11:31:36.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:36.830 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:36.830 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:36.832 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:36.834 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:36.834 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:36.834 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:36.834 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:36.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:36.852 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0927634, 0.00354881, 0.00790947
[2026-09-13 11:31:36.852 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:36.852 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:36.852 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:36.852 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:36.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:36.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:36.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00827683
[2026-09-13 11:31:36.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0939739, -0.00497041, -0.00827683
[2026-09-13 11:31:36.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:37.056 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:37.057 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:37.060 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.061 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.061 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.061 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.061 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:37.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:37.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:37.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:37.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0957074, 0.00360553, 0.00899409
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:37.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:37.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:37.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:37.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00734044
[2026-09-13 11:31:37.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0974861, -0.00651582, -0.00734044
[2026-09-13 11:31:37.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:37.288 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:37.288 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:37.292 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.293 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.293 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.293 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.293 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.097863, 0.00640477, 0.00801683
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:37.319 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:37.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:37.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:37.371 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.372 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.372 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.372 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.372 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:37.400 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.404 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.404 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.404 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.404 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:37.434 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.437 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.437 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.437 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.437 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:37.462 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:37.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:37.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00831142
[2026-09-13 11:31:37.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0987365, -0.00486316, -0.00831142
[2026-09-13 11:31:37.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0987735, 0.00404236, 0.00850882
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:37.515 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:37.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:37.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:37.527 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.527 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:37.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.529 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.529 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.529 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:37.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:37.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0985892, 0.00335796, 0.00843009
[2026-09-13 11:31:37.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:37.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:37.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:37.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:37.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:37.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:37.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:37.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:37.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00770244
[2026-09-13 11:31:37.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.098155, -0.0074944, -0.00770244
[2026-09-13 11:31:37.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:37.754 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:37.754 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:37.757 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.758 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.758 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.758 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.758 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:37.775 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:37.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:37.779 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:37.779 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0971854, 0.00716449, 0.0075948
[2026-09-13 11:31:37.779 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:37.779 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:37.779 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:37.779 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:37.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:37.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:37.977 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00679773
[2026-09-13 11:31:37.977 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0981112, -0.00684665, -0.00679773
[2026-09-13 11:31:37.977 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:37.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:37.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:37.986 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:37.989 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:37.989 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:37.989 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:37.989 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.011 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:38.011 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:38.011 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:38.011 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:38.011 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:38.012 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:38.013 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0986462, 0.00671791, 0.00711912
[2026-09-13 11:31:38.013 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:38.013 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:38.013 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:38.013 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:38.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:38.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:38.177 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00695287
[2026-09-13 11:31:38.177 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0970391, -0.00684091, -0.00695287
[2026-09-13 11:31:38.177 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:38.230 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:38.230 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:38.232 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:38.236 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:38.236 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:38.236 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:38.236 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0969274, 0.00668549, 0.00724454
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:38.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:38.256 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:38.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:38.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:38.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00645272
[2026-09-13 11:31:38.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0979149, -0.00671537, -0.00645272
[2026-09-13 11:31:38.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:38.458 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:38.458 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:38.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:38.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:38.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:38.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:38.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.479 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:38.479 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:38.480 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:38.480 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:38.481 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:38.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:38.486 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0972443, 0.00673007, 0.00703263
[2026-09-13 11:31:38.486 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:38.486 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:38.486 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:38.486 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:38.529 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:38.540 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:38.541 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:38.541 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:38.541 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:38.541 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:38.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:38.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:38.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:38.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:38.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.596 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:38.597 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:38.597 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:38.597 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:38.597 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:38.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:38.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:38.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:38.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:38.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:38.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:38.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:38.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0976129, 0.00651045, 0.00837997
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:38.659 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:38.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:38.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00757889
[2026-09-13 11:31:38.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0995747, -0.00777234, -0.00757889
[2026-09-13 11:31:38.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:38.691 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:38.691 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:38.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:38.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:38.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:38.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:38.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:38.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.698 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:38.698 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:38.698 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:38.698 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0993563, 0.00745937, 0.00818116
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:38.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:38.762 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:38.762 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:38.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:38.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:38.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00686292
[2026-09-13 11:31:38.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0982325, -0.00486589, -0.00686292
[2026-09-13 11:31:38.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:38.922 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:38.922 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:38.928 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:38.929 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:38.929 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:38.929 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:38.929 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.100212, 0.00555902, 0.00732544
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:38.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:38.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:39.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:39.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00785612
[2026-09-13 11:31:39.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0988221, -0.0057822, -0.00785612
[2026-09-13 11:31:39.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:39.251 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:39.251 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:39.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:39.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:39.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:39.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:39.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.098985, 0.00456875, 0.00773686
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:39.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:39.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:39.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:39.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0121267
[2026-09-13 11:31:39.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0868459, -0.00606681, -0.0121267
[2026-09-13 11:31:39.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:39.492 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:39.492 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:39.496 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:39.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:39.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:39.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:39.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0894997, 0.00667824, 0.0118699
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:39.520 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:39.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:39.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:39.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.008737
[2026-09-13 11:31:39.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0961311, -0.00701615, -0.008737
[2026-09-13 11:31:39.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:39.698 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:39.709 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:39.710 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:39.710 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:39.710 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:39.710 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:39.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:39.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:39.727 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:39.729 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:39.729 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:39.729 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:39.729 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:39.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 03:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0979806, 0.00698765, 0.00846428
[2026-09-13 11:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:39.739 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:39.741 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:39.742 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:39.742 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:39.742 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0989712, 0.00601923, 0.00822942
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:39.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:39.756 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:39.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:39.847 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:39.848 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:39.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:39.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00697583
[2026-09-13 11:31:39.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0997622, -0.00628149, -0.00697583
[2026-09-13 11:31:39.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:40.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:40.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:40.069 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:40.077 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:40.077 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:40.077 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:40.077 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:40.087 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:40.087 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:40.087 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:40.087 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:40.087 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:40.087 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:40.088 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:40.088 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:40.088 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:40.088 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:40.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:40.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:40.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:40.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:40.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:40.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0925975, 0.00601498, 0.00356613
[2026-09-13 11:31:40.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:40.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:40.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:40.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:40.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:40.264 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:40.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0122203
[2026-09-13 11:31:40.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0885421, -0.00633417, -0.0122203
[2026-09-13 11:31:40.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:40.293 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:40.293 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:40.296 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:40.297 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:40.297 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:40.297 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:40.297 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:40.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:40.315 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:40.315 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:40.315 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:40.315 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0914908, 0.00551751, 0.0127231
[2026-09-13 11:31:40.315 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:40.315 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:40.315 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:40.315 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:40.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:40.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:40.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0106439
[2026-09-13 11:31:40.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0945992, -0.00736426, -0.0106439
[2026-09-13 11:31:40.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:40.521 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:40.521 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:40.527 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:40.529 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:40.529 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:40.529 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:40.529 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0950883, 0.00540098, 0.0095924
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:40.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:40.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:40.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:40.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00787361
[2026-09-13 11:31:40.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0964459, -0.00715913, -0.00787361
[2026-09-13 11:31:40.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:40.742 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:40.753 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:40.754 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:40.754 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:40.754 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:40.754 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:40.757 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:40.757 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:40.762 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:40.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:40.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:40.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:40.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:40.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:40.781 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:40.781 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:40.781 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:40.781 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:40.792 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:40.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:40.794 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:40.794 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:40.794 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:40.794 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:40.794 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0975896, 0.00672431, 0.00878964
[2026-09-13 11:31:40.794 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:40.794 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:40.794 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:40.794 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:40.809 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:40.815 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:40.815 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:40.815 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:40.816 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:40.839 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:40.846 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:40.846 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:40.846 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:40.846 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:40.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:40.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:40.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0972396, 0.00704081, 0.00894244
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:40.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:40.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:40.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:40.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:40.876 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:40.876 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:40.876 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:40.876 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:40.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:40.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00844279
[2026-09-13 11:31:40.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0989114, -0.00976224, -0.00844279
[2026-09-13 11:31:40.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:40.974 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:40.974 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:40.997 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:40.997 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:41.000 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:41.002 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:41.002 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:41.002 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:41.002 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:41.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:41.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:41.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0984951, 0.00549903, 0.00913452
[2026-09-13 11:31:41.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:41.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:41.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:41.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:41.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:41.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:41.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00708266
[2026-09-13 11:31:41.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0992543, -0.00474608, -0.00708266
[2026-09-13 11:31:41.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:41.231 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:41.231 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:41.247 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:41.248 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:41.248 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:41.248 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:41.248 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.10046, 0.00508932, 0.00896144
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:41.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:41.264 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:41.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:41.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00672192
[2026-09-13 11:31:41.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0995402, -0.00483058, -0.00672192
[2026-09-13 11:31:41.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:41.563 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:41.563 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:41.585 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:41.585 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0910996, 0.00623018, 0.0102001
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:41.586 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:41.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:41.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:41.769 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0152287
[2026-09-13 11:31:41.769 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0891442, -0.0069579, -0.0152287
[2026-09-13 11:31:41.769 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:41.796 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:41.796 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:41.798 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:41.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:41.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:41.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:41.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:41.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:41.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:41.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:41.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:41.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0890254, 0.00591227, 0.0142458
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:41.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:41.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:41.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:41.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0982079, 0.00641403, 0.00904787
[2026-09-13 11:31:41.895 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:41.895 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:41.895 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:41.895 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:41.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:41.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:41.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:41.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:41.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:41.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0117247
[2026-09-13 11:31:41.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0953362, -0.00559144, -0.0117247
[2026-09-13 11:31:41.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:41.999 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:41.999 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:42.032 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:42.032 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:42.035 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:42.036 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:42.036 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:42.036 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:42.036 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:42.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:42.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:42.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:42.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:42.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:42.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0967931, 0.00527046, 0.0120797
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:42.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:42.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:42.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:42.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0103496
[2026-09-13 11:31:42.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0975557, -0.00680919, -0.0103496
[2026-09-13 11:31:42.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:42.257 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:42.257 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:42.261 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:42.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:42.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:42.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:42.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.10017, 0.00461071, 0.0103969
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:42.285 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:42.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:42.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:42.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0107286
[2026-09-13 11:31:42.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0993801, -0.00584421, -0.0107286
[2026-09-13 11:31:42.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:42.488 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:42.488 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:42.493 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:42.505 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:42.505 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:42.505 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:42.505 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0987092, 0.00440752, 0.0109476
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:42.522 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:42.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:42.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:42.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00926586
[2026-09-13 11:31:42.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0962122, -0.00404867, -0.00926586
[2026-09-13 11:31:42.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:42.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:42.911 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:42.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:42.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:42.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:42.912 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:42.925 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:42.925 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:42.929 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:42.930 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:42.930 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:42.930 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:42.930 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:42.938 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0864142, 0.00368321, 0.0116645
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:42.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:42.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:42.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:42.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:42.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:42.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:42.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:42.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:42.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:42.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:42.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:42.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:42.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0851961, 0.00374736, 0.0111168
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:42.956 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:42.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:43.043 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:43.043 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:43.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:43.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0175898
[2026-09-13 11:31:43.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0698929, -0.00642654, -0.0175898
[2026-09-13 11:31:43.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:43.162 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:43.162 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:43.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:43.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:43.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:43.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:43.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.073525, 0.00692257, 0.020792
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:43.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:43.264 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:43.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:43.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0175498
[2026-09-13 11:31:43.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0828695, -0.00612482, -0.0175498
[2026-09-13 11:31:43.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:43.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:43.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:43.390 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:43.391 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:43.391 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:43.391 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:43.391 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:43.407 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:43.407 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:43.407 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:43.407 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:43.407 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:43.407 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:43.407 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:43.407 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:43.408 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:43.408 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:43.408 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:43.408 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:43.408 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:43.408 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:43.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:43.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0849817, 0.00405998, 0.0175928
[2026-09-13 11:31:43.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:43.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:43.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:43.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:43.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:43.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:43.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0143966
[2026-09-13 11:31:43.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0887661, -0.00505024, -0.0143966
[2026-09-13 11:31:43.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:43.622 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:43.622 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:43.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:43.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:43.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:43.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:43.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:43.643 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:43.643 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:43.643 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0901772, 0.00380329, 0.0134871
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:43.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:43.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:43.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:43.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0119693
[2026-09-13 11:31:43.767 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0926794, -0.00519643, -0.0119693
[2026-09-13 11:31:43.767 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:43.847 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:43.847 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:43.853 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:43.855 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:43.855 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:43.855 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:43.855 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0947877, 0.00423097, 0.013576
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:43.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:43.880 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:43.880 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:43.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0792506, 0.00500078, 0.0104197
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:43.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:43.952 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:43.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:43.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:43.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:43.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:43.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:44.055 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:44.055 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:44.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:44.070 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0110379
[2026-09-13 11:31:44.070 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0921448, -0.00377538, -0.0110379
[2026-09-13 11:31:44.071 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:44.082 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:44.082 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:44.088 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:44.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:44.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:44.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:44.089 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0925552, 0.00334118, 0.0107192
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:44.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:44.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:44.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:44.272 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0100123
[2026-09-13 11:31:44.272 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0957032, -0.00523454, -0.0100123
[2026-09-13 11:31:44.272 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:44.306 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:44.306 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:44.313 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:44.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:44.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:44.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:44.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:44.327 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:44.327 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:44.327 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:44.327 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:44.327 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:44.328 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:44.329 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0974865, 0.0047896, 0.0100803
[2026-09-13 11:31:44.329 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:44.329 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:44.329 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:44.329 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:44.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:44.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:44.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0106246
[2026-09-13 11:31:44.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0961908, -0.00600407, -0.0106246
[2026-09-13 11:31:44.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:44.531 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:44.531 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:44.535 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:44.536 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:44.536 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:44.536 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:44.536 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.09541, 0.00464256, 0.0099551
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:44.559 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:44.560 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:44.560 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:44.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:44.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:44.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0096714
[2026-09-13 11:31:44.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0971988, -0.00666058, -0.0096714
[2026-09-13 11:31:44.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:44.762 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:44.762 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:44.763 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:44.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:44.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:44.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:44.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:44.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:44.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:44.783 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0967991, 0.00346194, 0.0102166
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:44.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:44.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:44.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:44.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:44.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:44.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:44.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0938679, 0.00391502, 0.0120622
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:44.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:44.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00930974
[2026-09-13 11:31:44.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0949067, -0.00558221, -0.00930974
[2026-09-13 11:31:44.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:44.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:44.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:44.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:44.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:44.987 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:44.987 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:44.990 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:44.991 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:44.991 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:44.991 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:44.991 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.093316, 0.00547358, 0.00922081
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:45.008 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:45.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:45.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:45.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:45.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:45.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0104424
[2026-09-13 11:31:45.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0975833, -0.00614513, -0.0104424
[2026-09-13 11:31:45.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:45.215 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:45.215 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:45.219 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:45.221 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:45.221 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:45.221 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:45.221 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0976598, 0.00381829, 0.0103551
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:45.243 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:45.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:45.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:45.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00950351
[2026-09-13 11:31:45.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0971058, -0.00532673, -0.00950351
[2026-09-13 11:31:45.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:45.446 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:45.446 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:45.453 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:45.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:45.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:45.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:45.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:45.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:45.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:45.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:45.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:45.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:45.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:45.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:45.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:45.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:45.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:45.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:45.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:45.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:45.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:45.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:45.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0984332, 0.00435526, 0.0107472
[2026-09-13 11:31:45.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:45.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:45.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:45.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:45.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:45.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:45.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00891634
[2026-09-13 11:31:45.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.098409, -0.00832725, -0.00891634
[2026-09-13 11:31:45.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:45.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:45.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:45.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:45.676 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:45.676 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:45.676 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:45.676 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:45.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0989018, 0.00736771, 0.00918828
[2026-09-13 11:31:45.704 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:45.704 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:45.704 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:45.704 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:45.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:45.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:45.980 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:45.980 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:45.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:45.982 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0949897, 0.00471071, 0.00946016
[2026-09-13 11:31:45.982 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:45.982 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:45.982 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:45.982 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:45.982 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:45.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:45.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:45.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:45.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:46.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:46.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00667636
[2026-09-13 11:31:46.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0958273, -0.00511236, -0.00667636
[2026-09-13 11:31:46.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:46.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:46.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:46.117 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:46.117 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:46.124 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:46.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:46.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:46.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:46.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0820426, 0.00508791, 0.00856349
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:46.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:46.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:46.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:46.371 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0183428
[2026-09-13 11:31:46.371 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0715671, -0.00935008, -0.0183428
[2026-09-13 11:31:46.371 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:46.372 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:46.372 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:46.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:46.381 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:46.381 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:46.381 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:46.381 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:46.395 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:46.396 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:46.396 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:46.396 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:46.396 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:46.396 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.071485, 0.00789417, 0.0194669
[2026-09-13 11:31:46.396 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:46.396 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:46.396 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:46.396 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:46.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:46.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:46.577 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0175016
[2026-09-13 11:31:46.577 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0809538, -0.00439585, -0.0175016
[2026-09-13 11:31:46.577 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:46.605 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:46.605 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:46.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:46.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:46.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:46.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:46.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:46.626 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:46.626 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:46.626 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:46.626 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.081352, 0.00293368, 0.0174576
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:46.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:46.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:46.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:46.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0137675
[2026-09-13 11:31:46.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0854264, -0.00743834, -0.0137675
[2026-09-13 11:31:46.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:46.830 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:46.830 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:46.834 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:46.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:46.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:46.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:46.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0870563, 0.00698822, 0.0145029
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:46.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:46.872 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:46.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:46.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0127163
[2026-09-13 11:31:46.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0853714, -0.00610141, -0.0127163
[2026-09-13 11:31:46.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:46.984 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:46.995 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:46.996 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:46.996 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:46.996 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:46.996 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.029 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.033 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.033 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.033 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.033 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.055 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.055 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.055 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.063 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:47.063 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:47.072 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.081 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0908419, 0.0059542, 0.0124625
[2026-09-13 11:31:47.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:47.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:47.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:47.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:47.114 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.115 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.115 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.115 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.115 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.142 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.144 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:47.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.205 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.207 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.207 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.207 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.207 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.232 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.235 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.235 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.235 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.235 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:47.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0121767
[2026-09-13 11:31:47.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0952377, -0.00687824, -0.0121767
[2026-09-13 11:31:47.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:47.293 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.294 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.294 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.294 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.294 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.307 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:47.308 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:47.320 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.320 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.321 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.322 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.322 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.322 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.324 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.324 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.324 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.324 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.339 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:47.339 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:47.339 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:47.339 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:47.339 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:47.339 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0955752, 0.00681504, 0.011208
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:47.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:47.357 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:47.357 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:47.357 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:47.357 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:47.357 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:47.357 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:47.357 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:47.357 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:47.357 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0966328, 0.00518983, 0.012469
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:47.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:47.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:47.438 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:47.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:47.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0100567
[2026-09-13 11:31:47.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0966048, -0.00686135, -0.0100567
[2026-09-13 11:31:47.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:47.538 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:47.541 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0102928
[2026-09-13 11:31:47.541 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0953096, -0.00534714, -0.0102928
[2026-09-13 11:31:47.541 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:47.542 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:47.543 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:47.548 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.549 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.549 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.549 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.549 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.549 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.561 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:47.561 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.095275, 0.00457704, 0.0103481
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:47.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:47.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:47.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:47.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:47.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:47.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00970763
[2026-09-13 11:31:47.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0973245, -0.00594016, -0.00970763
[2026-09-13 11:31:47.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:47.770 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:47.770 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:47.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:47.775 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:47.775 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:47.775 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:47.775 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:47.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:47.800 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:47.800 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:47.800 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:47.800 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0963545, 0.00628032, 0.0102374
[2026-09-13 11:31:47.800 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:47.800 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:47.800 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:47.800 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:47.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:47.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:47.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0100549
[2026-09-13 11:31:47.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0969416, -0.00680744, -0.0100549
[2026-09-13 11:31:47.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:48.006 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:48.006 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:48.009 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:48.011 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:48.011 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:48.011 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:48.011 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:48.026 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:48.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:48.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:48.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0993404, 0.00723348, 0.0101458
[2026-09-13 11:31:48.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:48.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:48.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:48.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:48.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:48.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:48.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0108475
[2026-09-13 11:31:48.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0977541, -0.00801401, -0.0108475
[2026-09-13 11:31:48.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:48.230 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:48.230 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:48.232 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:48.234 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:48.234 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:48.234 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:48.234 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:48.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:48.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:48.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:48.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:48.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:48.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:48.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:48.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:48.259 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0988289, 0.0045932, 0.0124949
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:48.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:48.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:48.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:48.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0105322
[2026-09-13 11:31:48.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0984799, -0.00594239, -0.0105322
[2026-09-13 11:31:48.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:48.463 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:48.463 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:48.476 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:48.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:48.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:48.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:48.477 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.10014, 0.00525622, 0.0115578
[2026-09-13 11:31:48.499 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:48.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:48.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:48.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:48.549 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:48.561 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:48.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:48.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:48.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:48.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:48.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:48.593 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:48.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:48.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:48.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:48.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:48.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:48.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:48.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:48.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:48.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:48.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:48.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:48.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:48.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0975033, 0.00568967, 0.0107778
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:48.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:48.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:48.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:48.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:48.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:48.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:48.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0105545
[2026-09-13 11:31:48.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0976416, -0.00652834, -0.0105545
[2026-09-13 11:31:48.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:48.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:48.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:48.705 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:48.706 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:48.706 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:48.706 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:48.706 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0969063, 0.00500948, 0.0129444
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:48.731 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:48.753 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:48.753 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:48.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:48.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:48.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0110256
[2026-09-13 11:31:48.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0971824, -0.00482358, -0.0110256
[2026-09-13 11:31:48.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:48.934 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:48.934 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:48.938 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:48.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:48.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:48.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:48.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0977834, 0.00348212, 0.0101518
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:48.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:48.972 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:49.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:49.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:49.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0100914
[2026-09-13 11:31:49.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0979039, -0.00495647, -0.0100914
[2026-09-13 11:31:49.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:49.176 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:49.176 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:49.180 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:49.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0977615, 0.00356126, 0.01071
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:49.203 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:49.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:49.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:49.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00943163
[2026-09-13 11:31:49.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0988325, -0.00458845, -0.00943163
[2026-09-13 11:31:49.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:49.409 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:49.409 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:49.417 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:49.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.419 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:49.439 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:49.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:49.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:49.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:49.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:49.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0991549, 0.00534406, 0.0103142
[2026-09-13 11:31:49.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:49.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:49.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:49.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:49.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:49.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:49.572 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0105945
[2026-09-13 11:31:49.572 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0975032, -0.00554531, -0.0105945
[2026-09-13 11:31:49.572 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:49.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:49.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:49.650 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:49.651 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.651 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.651 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.651 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.654 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:49.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:49.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:49.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:49.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:49.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0963394, 0.00491243, 0.0100069
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:49.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:49.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.691 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:49.693 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.693 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.693 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.693 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.716 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:49.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.761 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:49.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:49.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.793 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:49.795 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.795 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.795 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.795 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0977072, 0.00300859, 0.0114361
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:49.823 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:49.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:49.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:49.874 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0102283
[2026-09-13 11:31:49.874 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0960356, -0.00291855, -0.0102283
[2026-09-13 11:31:49.874 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:49.878 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:49.878 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:49.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 03:31:49.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:49.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.891 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:49.891 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:49.891 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:49.891 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:49.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:49.904 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:49.904 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0974322, 0.00249938, 0.0109917
[2026-09-13 11:31:49.904 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:49.904 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:49.904 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:49.904 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:49.933 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:49.933 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:49.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:50.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:50.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.010178
[2026-09-13 11:31:50.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.097238, -0.00602813, -0.010178
[2026-09-13 11:31:50.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:50.106 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:50.106 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:50.109 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:50.111 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:50.118 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:50.118 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:50.118 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:50.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0987556, 0.00706454, 0.0107934
[2026-09-13 11:31:50.130 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:50.130 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:50.130 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:50.130 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:50.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:50.264 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:50.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0101819
[2026-09-13 11:31:50.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0970183, -0.0067178, -0.0101819
[2026-09-13 11:31:50.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:50.336 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:50.336 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:50.339 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:50.341 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:50.341 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:50.341 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:50.341 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0970167, 0.00585975, 0.0105261
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:50.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:50.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:50.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:50.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00948624
[2026-09-13 11:31:50.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0960744, -0.00501557, -0.00948624
[2026-09-13 11:31:50.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:50.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:50.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:50.576 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:50.589 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:50.590 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:50.590 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:50.590 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:50.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:50.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:50.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:50.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:50.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:50.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:50.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:50.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:50.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:50.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:50.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:50.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:50.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:50.603 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:50.603 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:50.603 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0965286, 0.00387848, 0.00993434
[2026-09-13 11:31:50.603 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:50.603 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:50.603 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:50.603 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:50.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:50.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:50.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00977496
[2026-09-13 11:31:50.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0978861, -0.00285195, -0.00977496
[2026-09-13 11:31:50.767 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:50.805 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:50.805 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:50.811 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:50.815 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:50.816 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:50.816 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:50.816 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.099462, 0.00183743, 0.00905444
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:50.835 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:50.836 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:50.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:50.892 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:50.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:50.907 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:50.907 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:50.907 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:50.907 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:50.925 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:50.926 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:50.926 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:50.926 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:50.926 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:50.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:50.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:50.955 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:50.960 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:50.960 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0983995, 0.00312096, 0.00906474
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:50.981 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:50.985 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:50.992 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:50.992 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:50.992 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:50.992 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:51.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:51.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00914199
[2026-09-13 11:31:51.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0985104, -0.00499214, -0.00914199
[2026-09-13 11:31:51.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:51.093 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:51.093 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:51.147 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:51.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:51.154 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:51.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:51.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:51.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:51.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:51.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:51.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:51.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0921428, 0.00282059, 0.00658435
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:51.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:51.264 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:51.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:51.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0122253
[2026-09-13 11:31:51.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0892272, -0.00437614, -0.0122253
[2026-09-13 11:31:51.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:51.372 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:51.372 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:51.375 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:51.376 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:51.376 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:51.376 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:51.376 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:51.392 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:51.392 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0905244, 0.00330246, 0.0122334
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:51.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:51.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:51.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:51.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0105547
[2026-09-13 11:31:51.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0960207, -0.00504623, -0.0105547
[2026-09-13 11:31:51.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:51.598 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:51.598 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:51.601 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:51.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:51.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:51.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:51.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0981636, 0.00510089, 0.00999257
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:51.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:51.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:51.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:51.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0091656
[2026-09-13 11:31:51.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0967851, -0.00512995, -0.0091656
[2026-09-13 11:31:51.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:51.853 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:51.853 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:51.856 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:51.858 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:51.858 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:51.858 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:51.858 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.097445, 0.00424674, 0.00953964
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:51.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:51.876 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:51.876 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:51.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:51.992 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:52.003 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:52.004 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:52.004 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:52.004 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:52.004 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:52.026 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:52.029 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:52.029 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:52.029 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:52.029 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:52.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:52.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:52.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:52.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:52.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:52.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:52.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00975762
[2026-09-13 11:31:52.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0995063, -0.00749548, -0.00975762
[2026-09-13 11:31:52.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:52.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:52.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:52.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:52.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:52.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:52.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:52.084 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:52.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:52.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:52.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:52.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:52.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:52.108 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:52.109 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:52.109 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:52.109 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:52.109 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:52.123 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:52.124 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:52.124 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:52.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:52.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:52.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:52.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:52.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:52.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:52.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:52.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:52.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:52.126 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:52.126 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:52.126 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:52.126 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0996273, 0.00673549, 0.00961688
[2026-09-13 11:31:52.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:52.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:52.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:52.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.100394, 0.00648318, 0.0100814
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:52.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:52.138 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:52.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:52.338 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:52.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00938002
[2026-09-13 11:31:52.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0998973, -0.0056895, -0.00938002
[2026-09-13 11:31:52.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:52.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:52.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00938002
[2026-09-13 11:31:52.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0998973, -0.0056895, -0.00938002
[2026-09-13 11:31:52.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:52.430 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:52.430 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:52.434 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:52.435 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:52.435 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:52.435 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:52.435 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:52.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:52.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:52.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:52.450 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:52.451 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:52.451 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:52.451 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.09358, 0.00353582, 0.00772778
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:52.461 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:52.462 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:52.462 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:52.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:52.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:52.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0186726
[2026-09-13 11:31:52.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0873332, -0.00317049, -0.0186726
[2026-09-13 11:31:52.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:52.600 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:52.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:52.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:52.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:52.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:52.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:52.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:53.436 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0937699, 0.00374909, 0.00744522
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:53.455 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:53.539 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:53.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:53.638 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:31:53.639 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0236958
[2026-09-13 11:31:53.639 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0246505, -0.00848969, -0.0236958
[2026-09-13 11:31:53.639 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:31:53.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:53.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:53.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:53.670 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0290883, 0.00736427, 0.0280626
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:53.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.028057, 0.00759809, 0.0279504
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:31:53.682 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:31:53.720 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:53.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:53.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:53.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:53.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:53.738 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:31:53.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:53.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:53.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:31:53.777 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:31:53.777 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:31:53.777 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:31:53.777 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:31:53.796 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:31:53.796 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:31:54.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:31:54.778 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:32:03.172 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1853] ------>>> PLANNER RECOVER
[2026-09-13 11:32:03.172 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1853] ------>>> PLANNER RECOVER
[2026-09-13 11:38:07.038 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:07.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:09.538 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:09.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:12.039 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:12.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:14.540 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:14.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:17.038 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:17.043 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:933] [ERROR] --->>> No Lidar odom ---->>> Exit, Return Error Code -8 !!
[2026-09-13 11:38:17.043 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:38:17.045 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:38:17.045 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:38:17.045 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:38:17.045 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:38:17.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:928] [WARNING] --->>> No Lidar odom, Task Paused !!
[2026-09-13 11:38:17.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:933] [ERROR] --->>> No Lidar odom ---->>> Exit, Return Error Code -8 !!
[2026-09-13 11:38:17.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:38:17.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:38:17.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:38:17.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:38:17.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:39:54.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:39:54.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:39:54.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:39:54.260 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:39:54.261 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.203414, -0.0330235, -0.00172143
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:39:54.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.203955, -0.0317431, -0.00133422
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:39:54.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:39:54.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:39:54.639 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:39:55.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:39:55.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.00409473
[2026-09-13 11:39:55.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0989333, 0.0161651, 0.00409473
[2026-09-13 11:39:55.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:39:55.574 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:39:55.574 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:39:55.579 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:39:55.581 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:39:55.581 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:39:55.581 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:39:55.581 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:39:55.581 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:39:55.584 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:39:55.584 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:39:55.584 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:39:55.584 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:39:55.605 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:39:55.605 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:39:55.605 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:39:55.605 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:39:55.605 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:39:55.605 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:39:55.605 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0985014, -0.0150554, -0.00818829
[2026-09-13 11:39:55.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:39:55.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:39:55.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:39:55.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:39:55.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:39:55.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:39:55.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:39:55.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:39:55.772 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.00340518
[2026-09-13 11:39:55.772 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0980825, 0.0173227, 0.00340518
[2026-09-13 11:39:55.772 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:39:55.810 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:39:55.810 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:39:55.812 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:39:55.813 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:39:55.813 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:39:55.813 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:39:55.813 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.103019, -0.0204824, -0.00533907
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:39:55.840 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:39:55.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:39:56.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:39:56.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.00187669
[2026-09-13 11:39:56.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0949654, 0.0118178, 0.00187669
[2026-09-13 11:39:56.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:39:56.581 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:39:56.594 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0983801, -0.0145306, -0.00749042
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:39:56.595 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:39:56.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:39:56.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:39:56.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:39:56.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:39:56.652 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:39:56.652 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:39:56.657 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:39:56.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:39:56.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:39:56.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:39:56.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:39:56.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:39:56.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:39:56.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:39:56.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:39:56.673 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0851255, -0.0119276, -0.00427759
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:39:56.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:39:56.706 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:39:56.706 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:39:56.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:39:56.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:39:56.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -8.89233e-06
[2026-09-13 11:39:56.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.091694, 0.0127534, -8.89233e-06
[2026-09-13 11:39:56.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:39:56.877 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:39:56.877 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:39:56.878 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:39:56.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:39:56.879 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:39:56.880 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:39:56.880 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:19
[2026-09-13 11:39:56.910 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:39:56.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 19
[2026-09-13 11:39:56.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:39:56.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:39:56.913 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:39:57.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:39:57.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:39:57.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:39:57.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0900963, -0.011816, -0.0067457
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:39:57.620 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:39:57.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:39:57.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:39:57.723 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:39:58.621 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:39:58.632 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:39:58.633 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:39:58.633 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:39:58.633 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:39:58.633 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:39:58.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:39:58.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:19
[2026-09-13 11:39:58.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:39:58.676 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 19
[2026-09-13 11:39:58.676 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:39:58.676 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:39:58.676 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:01.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:40:01.140 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:40:03.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:40:03.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 19
[2026-09-13 11:40:03.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 19
[2026-09-13 11:40:03.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:40:03.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:08.767 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:08.768 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.142386
[2026-09-13 11:40:08.768 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00832783, -0.0304945, -0.142386
[2026-09-13 11:40:08.768 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:08.832 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:08.832 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:08.836 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:08.836 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:08.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:08.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:08.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:08.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:08.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:08.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:08.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:08.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.92918, 0.34152, 0.0635055
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:08.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:08.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:08.921 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:08.922 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:08.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:08.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0792327
[2026-09-13 11:40:08.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00606396, -0.0291939, -0.0792327
[2026-09-13 11:40:08.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:09.071 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:09.071 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:09.078 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:09.081 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:09.082 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:09.082 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:09.082 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.930032, 0.347761, 0.0305609
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:09.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:09.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:09.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:09.271 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.117893
[2026-09-13 11:40:09.271 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00713282, -0.0425111, -0.117893
[2026-09-13 11:40:09.271 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:09.306 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:09.306 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:09.314 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:09.324 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:09.324 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:09.324 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:09.324 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.931669, 0.355631, 0.0557622
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:09.351 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:09.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:09.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:09.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.131801
[2026-09-13 11:40:09.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00610505, -0.0411374, -0.131801
[2026-09-13 11:40:09.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:09.554 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:09.554 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:09.558 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:09.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:09.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:09.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:09.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:09.575 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:09.576 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:09.576 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.933382, 0.348885, 0.0725795
[2026-09-13 11:40:09.576 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:09.576 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:09.576 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:09.576 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:09.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:09.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:09.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.145159
[2026-09-13 11:40:09.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00603504, -0.0395995, -0.145159
[2026-09-13 11:40:09.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:09.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:09.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:09.789 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:09.790 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:09.790 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:09.790 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:09.790 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:20
[2026-09-13 11:40:09.808 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:40:09.816 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 20
[2026-09-13 11:40:09.816 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:40:09.816 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:09.817 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:09.838 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:09.849 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:09.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:09.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:09.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:09.851 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:09.876 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:09.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:09.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:09.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:09.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:09.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:09.918 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:09.918 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:09.918 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:09.919 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:09.941 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:09.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:09.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:09.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:09.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:09.971 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:09.972 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:09.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:09.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:09.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:09.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:09.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:09.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:09.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:09.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:09.974 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:09.974 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:09.974 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:09.974 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:20
[2026-09-13 11:40:09.974 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:40:09.980 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 20
[2026-09-13 11:40:09.980 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:40:09.980 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:09.980 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:10.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:40:11.941 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 2s
[2026-09-13 11:40:12.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:40:12.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 20
[2026-09-13 11:40:12.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 20
[2026-09-13 11:40:12.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:40:12.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:13.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:13.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0538711
[2026-09-13 11:40:13.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0462757, 0.0145522, 0.0538711
[2026-09-13 11:40:13.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:13.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:13.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:13.633 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:13.634 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:13.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:13.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:13.635 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:13.636 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:13.636 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:13.636 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:13.636 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:13.636 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0428757, -0.0130094, -0.0243371
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:13.658 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:13.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:13.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:13.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:13.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:13.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0304863
[2026-09-13 11:40:13.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0362446, 0.0231068, 0.0304863
[2026-09-13 11:40:13.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:13.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:13.863 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:13.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:13.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:13.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:13.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:13.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:13.904 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:13.904 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:13.904 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:13.905 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:13.907 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0339516, -0.0219056, -0.0347462
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:13.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:13.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:14.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:14.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0145466
[2026-09-13 11:40:14.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0314322, 0.00845391, 0.0145466
[2026-09-13 11:40:14.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:14.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:14.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:14.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:14.135 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:14.135 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:14.135 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:14.135 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:14.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:14.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:14.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:14.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:14.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0320089, -0.00586401, -0.0201033
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:14.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:14.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:14.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:14.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.00934236
[2026-09-13 11:40:14.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0336399, 0.00592312, 0.00934236
[2026-09-13 11:40:14.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:14.356 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:14.356 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:14.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:14.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:14.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:14.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:14.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0331263, 0.000284195, -0.01577
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:14.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:14.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:14.564 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:14.572 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.00694319
[2026-09-13 11:40:14.572 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0307764, -0.000933966, 0.00694319
[2026-09-13 11:40:14.572 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:14.591 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:14.591 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:14.597 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:14.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:14.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:14.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:14.602 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:14.618 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0311469, -0.000144631, -0.0147106
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:14.619 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:14.636 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:14.647 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:14.647 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:14.647 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:14.647 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:14.647 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:14.647 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:14.647 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:14.647 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:14.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:14.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:14.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:14.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:14.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:14.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:14.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:14.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0404743, -0.0118717, -0.0227148
[2026-09-13 11:40:14.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:14.649 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:14.650 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:14.650 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:14.650 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:14.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:14.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:14.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:14.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:14.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:14.762 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:14.762 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:14.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:14.772 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.00544295
[2026-09-13 11:40:14.772 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.033133, -0.000738524, 0.00544295
[2026-09-13 11:40:14.772 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:14.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:14.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:14.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:14.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:14.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:14.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:14.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:14.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:14.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:14.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:14.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0318383, 0.000845377, -0.0111688
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:14.843 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:14.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:14.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:14.970 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0042751
[2026-09-13 11:40:14.970 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0370663, -0.00109876, 0.0042751
[2026-09-13 11:40:14.970 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:15.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:15.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:15.051 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:15.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:15.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:15.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:15.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:20
[2026-09-13 11:40:15.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:40:15.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 20
[2026-09-13 11:40:15.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:40:15.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:15.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:15.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:15.671 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:15.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:15.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0307994, -0.000423908, -0.013192
[2026-09-13 11:40:15.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:15.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:15.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:15.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:15.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:15.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:15.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:15.680 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:15.775 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:15.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:16.683 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:16.695 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:16.695 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:16.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:16.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:16.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:16.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:16.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:16.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:16.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:16.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:16.696 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:16.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:16.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:16.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:16.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:16.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:16.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0326806, 0.00964545, 0.0579398
[2026-09-13 11:40:16.698 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:16.698 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:16.698 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:16.698 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:16.705 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:16.705 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:16.705 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:16.705 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:16.811 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:16.811 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:17.705 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:17.716 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:17.719 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:17.720 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:17.720 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:17.720 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:17.752 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:17.753 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:17.754 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:17.754 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:17.754 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:17.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:17.785 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:17.785 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:17.785 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:17.785 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:20
[2026-09-13 11:40:17.822 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:40:17.826 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 20
[2026-09-13 11:40:17.826 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:40:17.826 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:17.826 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:19.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:40:19.340 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:40:21.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:40:21.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 20
[2026-09-13 11:40:21.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 20
[2026-09-13 11:40:21.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:40:21.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:27.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:27.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.101725
[2026-09-13 11:40:27.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00301505, -0.0250369, -0.101725
[2026-09-13 11:40:27.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:27.120 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:27.120 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:27.124 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:27.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:27.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:27.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:27.128 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:27.129 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:27.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:27.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:27.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:27.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:27.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:27.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:27.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:27.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:27.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:27.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:27.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:27.157 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.934879, 0.339409, -0.0108274
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:27.158 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:27.164 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:27.178 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:27.178 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:27.264 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:27.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0410932
[2026-09-13 11:40:27.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.00122476, -0.0416772, -0.0410932
[2026-09-13 11:40:27.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:27.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:27.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:27.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:27.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:27.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:27.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:27.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.937919, 0.363095, -0.00921236
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:27.382 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:27.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:27.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:27.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0778271
[2026-09-13 11:40:27.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.00140201, -0.0500499, -0.0778271
[2026-09-13 11:40:27.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:27.585 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:27.585 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:27.587 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:27.588 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:27.588 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:27.589 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:27.589 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:27.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:27.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:27.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:27.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:27.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:27.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:27.606 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.936882, 0.361938, 0.0106956
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:27.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:27.669 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:27.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:27.769 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0909017
[2026-09-13 11:40:27.769 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.000777944, -0.0468298, -0.0909017
[2026-09-13 11:40:27.769 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:27.813 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:27.814 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:27.816 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:27.818 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:27.818 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:27.818 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:27.818 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:27.841 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.935971, 0.358113, 0.0230794
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:27.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:27.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:27.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:27.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0972029
[2026-09-13 11:40:27.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00430205, -0.0452277, -0.0972029
[2026-09-13 11:40:27.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:28.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:28.054 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:28.062 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:28.063 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:28.063 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:28.063 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:28.063 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:28.078 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:28.078 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:28.078 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:28.078 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:20
[2026-09-13 11:40:28.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:40:28.082 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 20
[2026-09-13 11:40:28.082 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:40:28.082 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:28.082 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:28.128 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:28.139 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:28.143 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:28.143 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:28.143 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:28.143 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:28.162 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:28.163 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:28.163 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:28.163 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:28.163 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:28.189 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:28.191 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:28.191 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:28.191 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:28.191 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:28.212 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:28.213 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:28.213 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:28.213 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:28.213 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:28.251 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:28.251 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:28.251 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:28.251 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:28.251 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:28.251 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:28.251 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:28.252 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:28.252 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:28.252 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:28.252 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:28.252 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:28.252 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:28.252 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:20
[2026-09-13 11:40:28.252 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:40:28.256 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 20
[2026-09-13 11:40:28.256 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:40:28.256 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:28.256 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:28.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:40:30.247 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 2s
[2026-09-13 11:40:30.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:40:30.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 20
[2026-09-13 11:40:30.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 20
[2026-09-13 11:40:30.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:40:31.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:33.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:33.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0768638
[2026-09-13 11:40:33.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0749788, -0.00693363, 0.0768638
[2026-09-13 11:40:33.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:33.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:33.090 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:33.094 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:33.094 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:33.094 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:33.094 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:33.094 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:33.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:33.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:33.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:33.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:33.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0664936, -0.00300973, -0.0596228
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:33.119 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:33.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:33.176 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:33.177 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:33.264 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:33.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.00789927
[2026-09-13 11:40:33.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.053581, 0.0318168, 0.00789927
[2026-09-13 11:40:33.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:33.321 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:33.321 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:33.326 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:33.327 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:33.327 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:33.327 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:33.327 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0595674, -0.0382294, -0.00458896
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:33.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:33.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:33.464 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:33.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00511628
[2026-09-13 11:40:33.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0665178, 0.0370134, -0.00511628
[2026-09-13 11:40:33.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:33.546 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:33.546 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:33.551 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:33.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:33.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:33.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:33.552 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.071637, -0.0313016, 0.00808174
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:33.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:33.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:33.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:33.764 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:33.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0237632
[2026-09-13 11:40:33.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0810057, 0.0237683, -0.0237632
[2026-09-13 11:40:33.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:33.773 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:33.773 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:33.784 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:33.797 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:33.797 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:33.797 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:33.797 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:33.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:33.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:33.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:33.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:33.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.08096, -0.0248039, 0.0191261
[2026-09-13 11:40:33.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:33.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:33.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:33.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:33.864 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:33.964 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:33.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0255835
[2026-09-13 11:40:33.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0873201, 0.0220135, -0.0255835
[2026-09-13 11:40:33.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:34.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:34.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:34.030 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:34.031 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:34.031 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:34.031 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:34.031 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:34.051 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:34.051 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:34.051 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:34.051 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:34.051 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:34.051 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:34.051 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:34.051 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0877783, -0.0213471, 0.0206908
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:34.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:34.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:34.101 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:34.112 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:34.114 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:34.114 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:34.114 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:34.114 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:34.145 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:34.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:34.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:34.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:34.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:34.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:34.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0247904
[2026-09-13 11:40:34.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0883335, 0.0175246, -0.0247904
[2026-09-13 11:40:34.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:34.173 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:34.174 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:34.174 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:34.174 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:34.174 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0878776, -0.0194796, 0.020755
[2026-09-13 11:40:34.174 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:34.174 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:34.174 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:34.174 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:34.175 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:34.175 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:34.175 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:34.175 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:34.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:34.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:34.257 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:34.258 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:34.258 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:34.258 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:34.258 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0882443, -0.020785, 0.0217228
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:34.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:34.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:34.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:34.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:40:34.469 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:40:34.470 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0287191
[2026-09-13 11:40:34.470 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0917146, 0.0200891, -0.0287191
[2026-09-13 11:40:34.470 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:40:34.479 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:34.479 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:34.484 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:34.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:34.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:34.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:34.485 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:19
[2026-09-13 11:40:34.500 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:40:34.503 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 19
[2026-09-13 11:40:34.503 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:40:34.503 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:34.503 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:35.175 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:35.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:35.187 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:35.187 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:35.187 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:35.187 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:35.209 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:35.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:35.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:35.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:35.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:35.244 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0, 0, 0
[2026-09-13 11:40:35.254 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1274] Path generate ---> target is too near, plan again! 
[2026-09-13 11:40:35.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1300] Path generate ---> target is near, exit! 
[2026-09-13 11:40:35.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1302] start point: -0.0860792, -0.0238496, 0.163098
[2026-09-13 11:40:35.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1303] end point: 0, 0, 0
[2026-09-13 11:40:35.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1767] path generate failed, control state set to ADJUSTMENT
[2026-09-13 11:40:35.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:35.255 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:35.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:35.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:35.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:35.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:35.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:35.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:35.501 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:35.514 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:35.514 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:35.514 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:35.514 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:35.516 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:35.516 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:36.262 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:36.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:40:36.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:40:36.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:40:36.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:40:36.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:40:36.279 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:40:36.280 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:40:36.280 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:40:36.280 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:40:36.280 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:40:36.280 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:40:36.280 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:40:36.280 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: -0.936149, 0.311128, -0.0627749
[2026-09-13 11:40:36.280 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:19
[2026-09-13 11:40:36.280 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:40:36.282 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 19
[2026-09-13 11:40:36.282 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:40:36.282 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:40:36.282 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:40:36.514 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:37.796 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:40:37.797 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:37.797 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:37.797 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:37.797 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:40:37.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:40:37.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:40:38.797 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:40:39.527 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:39.527 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:39.527 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:39.527 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1836] ------>>> PLANNER Pause
[2026-09-13 11:40:39.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:40:39.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:40:39.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:40:39.528 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1836] ------>>> PLANNER Pause
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.10878, -0.883735, 0.055818
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:50
[2026-09-13 11:46:02.870 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.10878, -0.883735, 0.055818
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:50
[2026-09-13 11:46:02.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:02.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 50
[2026-09-13 11:46:02.895 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:02.895 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:02.895 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:02.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 50
[2026-09-13 11:46:02.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:02.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:02.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:03.572 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:03.640 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:07.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:46:07.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 48
[2026-09-13 11:46:07.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 50
[2026-09-13 11:46:07.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:46:08.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:46:08.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:46:08.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0277816
[2026-09-13 11:46:08.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0866136, 0.0191128, -0.0277816
[2026-09-13 11:46:08.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:46:09.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:09.023 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:09.026 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:09.027 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:09.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:09.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:09.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:09.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:09.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:09.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:09.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:09.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:09.052 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:39
[2026-09-13 11:46:09.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:09.069 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 39
[2026-09-13 11:46:09.069 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:09.069 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:09.069 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:09.120 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:09.121 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:10.028 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:39
[2026-09-13 11:46:10.046 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:10.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 39
[2026-09-13 11:46:10.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:10.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:10.059 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:10.767 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:12.041 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 2s
[2026-09-13 11:46:14.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:46:14.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 39
[2026-09-13 11:46:14.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 39
[2026-09-13 11:46:14.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:46:15.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:46:16.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:46:16.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.135923
[2026-09-13 11:46:16.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0775982, 0.0054002, 0.135923
[2026-09-13 11:46:16.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:46:16.917 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:16.917 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:16.920 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:16.921 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:16.921 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:16.921 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:16.921 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:16.922 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:16.923 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:16.923 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:16.923 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:16.923 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.801938, 0.449159, -3.11792
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:48
[2026-09-13 11:46:16.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:16.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:16.973 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:16.989 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 48
[2026-09-13 11:46:16.989 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:16.989 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:16.989 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:17.923 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:46:17.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:17.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:17.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:17.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:17.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.801938, 0.449159, -3.11792
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:48
[2026-09-13 11:46:17.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:17.991 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 48
[2026-09-13 11:46:17.991 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:17.991 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:17.991 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:19.740 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:19.772 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:23.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:46:23.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 46
[2026-09-13 11:46:23.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 48
[2026-09-13 11:46:23.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:46:24.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:46:25.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:46:25.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00574493
[2026-09-13 11:46:25.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0970288, -0.00759821, -0.00574493
[2026-09-13 11:46:25.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:46:25.115 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:25.115 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:25.122 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:25.123 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:25.123 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:25.123 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:25.123 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:25.124 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:25.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:25.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:25.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:25.125 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:46
[2026-09-13 11:46:25.155 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:25.182 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 46
[2026-09-13 11:46:25.182 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:25.182 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:25.182 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:25.215 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:25.215 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:26.124 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:46:26.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:26.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:26.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:26.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:26.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:26.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:26.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:26.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:26.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:26.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:26.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:26.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:26.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:46:26.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:46
[2026-09-13 11:46:26.152 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:26.179 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 46
[2026-09-13 11:46:26.179 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:26.179 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:26.179 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:30.242 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:30.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:34.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:46:34.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 44
[2026-09-13 11:46:34.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 46
[2026-09-13 11:46:34.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:46:34.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:46:36.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:46:36.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0859174
[2026-09-13 11:46:36.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.00674245, 0.00962655, 0.0859174
[2026-09-13 11:46:36.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:46:36.708 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:36.708 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:36.714 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:36.715 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:36.725 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:36.725 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:36.725 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:36.725 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:36.725 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:36.725 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:36.725 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:36.725 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.10878, -0.883735, 0.055818
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:46:36.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:36.748 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:46:36.748 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:36.748 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:36.748 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:36.798 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:36.798 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:37.725 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:46:37.736 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.10878, -0.883735, 0.055818
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:46:37.737 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:37.751 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:46:37.751 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:37.751 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:37.751 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:40.767 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:40.849 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:44.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:46:44.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 36
[2026-09-13 11:46:44.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 37
[2026-09-13 11:46:44.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:46:45.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:46:49.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:46:49.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.126544
[2026-09-13 11:46:49.569 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00459512, -0.00345091, 0.126544
[2026-09-13 11:46:49.569 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:46:49.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:49.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:49.647 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:49.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:49.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:49.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:49.648 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:49.651 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:49.652 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:49.652 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:49.652 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:49.652 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:49.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:46:49.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:46:49.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:49.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:49.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:49.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:46:49.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:49.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:49.681 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:50.653 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:46:50.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:50.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:50.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:46:50.678 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:46:50.678 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:50.689 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:46:50.689 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:50.689 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:50.689 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:51.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:52.644 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:46:52.745 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 2.002s
[2026-09-13 11:46:54.742 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 4.002s
[2026-09-13 11:46:56.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:46:56.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 35
[2026-09-13 11:46:56.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 37
[2026-09-13 11:46:56.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:46:56.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 6.002s
[2026-09-13 11:46:56.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:46:57.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:46:57.371 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0874197
[2026-09-13 11:46:57.371 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0986836, -0.0178311, 0.0874197
[2026-09-13 11:46:57.371 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:46:57.398 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:57.398 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:57.400 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:57.400 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:46:57.403 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:57.403 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:57.403 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:57.403 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:57.404 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:46:57.404 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:46:57.404 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:46:57.404 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:46:57.421 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:46:57.422 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:46:57.425 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.801938, 0.449159, -3.11792
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:47
[2026-09-13 11:46:57.426 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:57.463 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 47
[2026-09-13 11:46:57.463 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:57.463 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:57.463 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:46:58.403 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.801938, 0.449159, -3.11792
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:47
[2026-09-13 11:46:58.414 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:46:58.436 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 47
[2026-09-13 11:46:58.436 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:46:58.436 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:46:58.436 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:47:00.345 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 2s
[2026-09-13 11:47:00.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:47:00.440 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:47:02.447 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 4.002s
[2026-09-13 11:47:04.447 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 6.002s
[2026-09-13 11:47:04.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:47:04.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 45
[2026-09-13 11:47:04.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 47
[2026-09-13 11:47:04.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:47:04.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:47:05.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:47:05.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0128713
[2026-09-13 11:47:05.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0951414, -0.0109588, -0.0128713
[2026-09-13 11:47:05.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:47:05.878 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:47:05.878 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:47:05.882 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:47:05.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:47:05.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:47:05.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:47:05.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:47:05.887 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:47:05.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:47:05.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:47:05.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:47:05.890 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:46
[2026-09-13 11:47:05.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:47:05.936 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 46
[2026-09-13 11:47:05.936 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:47:05.936 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:47:05.936 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:47:05.946 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:47:05.946 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:47:06.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:47:06.901 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:47:06.902 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:47:06.903 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:47:06.905 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:46
[2026-09-13 11:47:06.905 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:47:06.962 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 46
[2026-09-13 11:47:06.962 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:47:06.963 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:47:06.963 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:47:10.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:47:11.042 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:47:11.932 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:47:11.932 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:47:11.932 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:47:11.932 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1836] ------>>> PLANNER Pause
[2026-09-13 11:47:11.933 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:47:11.933 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:47:11.933 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:47:11.933 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1836] ------>>> PLANNER Pause
[2026-09-13 11:47:20.716 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:47:20.727 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:47:20.727 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:47:20.727 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:47:20.727 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:47:20.730 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:47:20.734 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:47:20.734 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:47:20.734 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:47:20.734 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:47:20.769 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:47:20.770 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:47:20.790 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:47:20.790 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:47:21.727 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:47:21.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:47:43.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:47:43.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:47:43.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:47:43.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.801938, 0.449159, -3.11792
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:22
[2026-09-13 11:47:43.884 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:47:43.887 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 22
[2026-09-13 11:47:43.887 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:47:43.887 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:47:43.887 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.801938, 0.449159, -3.11792
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:22
[2026-09-13 11:47:43.889 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:47:43.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 22
[2026-09-13 11:47:43.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:47:43.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:47:43.894 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:47:45.175 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:47:45.740 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:47:47.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:47:47.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 21
[2026-09-13 11:47:47.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 22
[2026-09-13 11:47:47.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:47:47.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:47:51.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:47:51.670 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0621937
[2026-09-13 11:47:51.670 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.000701711, 0.016152, 0.0621937
[2026-09-13 11:47:51.670 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:47:51.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:47:51.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:47:51.700 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:47:51.700 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:47:51.702 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:47:51.702 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:47:51.702 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:47:51.702 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:47:51.702 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:47:51.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:47:51.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:47:51.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:47:51.705 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:47:51.705 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:48
[2026-09-13 11:47:51.735 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:47:51.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 48
[2026-09-13 11:47:51.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:47:51.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:47:51.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:47:52.703 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:47:52.727 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:47:52.727 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:47:52.727 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:48
[2026-09-13 11:47:52.728 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:47:52.743 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 48
[2026-09-13 11:47:52.744 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:47:52.744 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:47:52.744 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:47:56.451 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 2.002s
[2026-09-13 11:47:57.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:47:58.442 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 4.002s
[2026-09-13 11:48:02.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:48:02.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 48
[2026-09-13 11:48:02.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 48
[2026-09-13 11:48:02.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:48:02.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:48:06.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:48:06.874 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.086733
[2026-09-13 11:48:06.874 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0242531, 0.0196405, 0.086733
[2026-09-13 11:48:06.874 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:48:06.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:48:06.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:48:06.914 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:48:06.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:48:06.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:06.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:06.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:06.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:48:06.916 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:06.916 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:06.916 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:06.916 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:48:06.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.10878, -0.883735, 0.055818
[2026-09-13 11:48:06.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:48:06.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:48:06.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:48:06.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:48:06.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:48:06.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:48:06.986 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:48:06.986 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:48:07.916 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:48:07.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.10878, -0.883735, 0.055818
[2026-09-13 11:48:07.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:48:07.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:48:07.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:48:07.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:48:07.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:48:07.951 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:48:10.876 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:48:11.040 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:48:15.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:48:15.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 35
[2026-09-13 11:48:15.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 37
[2026-09-13 11:48:15.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:48:15.769 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:48:27.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:48:27.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.126814
[2026-09-13 11:48:27.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0175597, 0.0110103, 0.126814
[2026-09-13 11:48:27.169 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:48:27.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:48:27.184 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:48:27.190 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:48:27.191 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:48:27.191 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:27.191 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:27.192 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:27.192 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:48:27.192 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:27.192 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:27.192 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:27.192 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:48:27.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:48:27.212 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:48:27.212 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:48:27.212 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:38
[2026-09-13 11:48:27.212 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:48:27.222 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 38
[2026-09-13 11:48:27.222 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:48:27.222 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:48:27.222 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:48:27.291 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:48:27.291 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:48:28.193 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:48:28.211 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:48:28.212 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:48:28.212 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:38
[2026-09-13 11:48:28.212 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:48:28.222 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 38
[2026-09-13 11:48:28.235 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:48:28.235 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:48:28.235 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:48:28.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:48:30.141 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:702] State machine ----> collision keep 2s
[2026-09-13 11:48:33.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:48:33.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 38
[2026-09-13 11:48:33.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 38
[2026-09-13 11:48:33.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:48:33.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:48:34.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:48:34.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0706122
[2026-09-13 11:48:34.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0515343, -0.00780646, 0.0706122
[2026-09-13 11:48:34.672 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:48:34.751 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:48:34.751 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:48:34.755 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:48:34.758 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:48:34.759 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:34.759 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:34.759 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:34.759 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:48:34.759 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:34.759 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:34.759 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:34.759 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:48:34.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:48:34.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:48:34.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:48:34.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:48:34.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:48:34.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:48:34.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:48:34.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:48:34.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:48:34.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:48:34.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:48:34.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:48:34.776 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.801938, 0.449159, -3.11792
[2026-09-13 11:48:34.777 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:48
[2026-09-13 11:48:34.778 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:48:34.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 48
[2026-09-13 11:48:34.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:48:34.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:48:34.829 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:48:34.857 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:48:34.857 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:48:35.759 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:48:35.779 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:48:35.780 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.801938, 0.449159, -3.11792
[2026-09-13 11:48:35.781 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:48
[2026-09-13 11:48:35.781 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:48:35.814 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 48
[2026-09-13 11:48:35.814 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:48:35.814 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:48:35.814 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:48:37.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:48:38.244 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:48:41.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:48:41.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 47
[2026-09-13 11:48:41.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 48
[2026-09-13 11:48:41.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:48:42.170 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:48:42.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:48:42.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.017771
[2026-09-13 11:48:42.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.09487, 0.00275424, -0.017771
[2026-09-13 11:48:42.468 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:48:42.542 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:48:42.542 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:48:42.548 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:48:42.549 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:48:42.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:42.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:42.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:42.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:48:42.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:42.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:42.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:42.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:48:42.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:48:42.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:48:42.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:48:42.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:48:42.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:46
[2026-09-13 11:48:42.571 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:48:42.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 46
[2026-09-13 11:48:42.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:48:42.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:48:42.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:48:42.634 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:48:42.634 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:48:43.550 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:48:43.561 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:48:43.561 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:48:43.561 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.16876, 0.622857, 1.51439
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:46
[2026-09-13 11:48:43.562 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:48:43.584 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 46
[2026-09-13 11:48:43.584 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:48:43.584 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:48:43.584 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:48:46.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:46.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:48:46.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:46.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:46.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1836] ------>>> PLANNER Pause
[2026-09-13 11:48:46.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:48:46.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:48:46.915 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1836] ------>>> PLANNER Pause
[2026-09-13 11:50:03.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:25] ---------->>> ................... <<<----------
[2026-09-13 11:50:03.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:26] ---------->>> Controller Launched <<<----------
[2026-09-13 11:50:03.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:40] ---->Init pose ctrl module
[2026-09-13 11:50:03.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:43] ---->Init pub sub module
[2026-09-13 11:52:06.064 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1828] ------>>> PLANNER is already paused
[2026-09-13 11:52:08.393 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1828] ------>>> PLANNER is already paused
[2026-09-13 11:52:48.470 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:52:48.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:52:48.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:52:48.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:52:48.471 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:52:48.513 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:52:48.513 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:52:49.474 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6
[2026-09-13 11:56:31.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:56:31.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:56:31.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:56:31.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:56:31.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:56:31.947 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:56:31.948 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:56:31.948 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:56:31.948 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:56:31.948 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:56:31.948 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:56:31.948 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:56:31.948 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.03145, -0.0657451, -1.861
[2026-09-13 11:56:31.948 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:67
[2026-09-13 11:56:31.948 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:56:31.990 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 67
[2026-09-13 11:56:31.990 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:56:31.990 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:56:31.990 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:56:32.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:56:37.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:56:37.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 64
[2026-09-13 11:56:37.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 67
[2026-09-13 11:56:37.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:56:37.670 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:56:39.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:56:39.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.14636
[2026-09-13 11:56:39.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00967281, -0.0141542, -0.14636
[2026-09-13 11:56:39.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:56:39.999 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:56:39.999 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:56:40.006 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:56:40.007 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:56:40.007 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:56:40.007 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:56:40.007 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:56:40.020 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:56:40.020 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:56:40.021 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:56:40.021 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:56:40.021 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:56:40.021 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:56:40.021 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:56:40.021 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:56:40.021 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:56:40.021 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:56:40.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:56:40.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:56:40.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:56:40.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:19
[2026-09-13 11:56:40.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:56:40.026 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 19
[2026-09-13 11:56:40.026 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:56:40.026 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:56:40.026 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:56:43.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:56:45.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:56:45.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 19
[2026-09-13 11:56:45.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 19
[2026-09-13 11:56:45.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:56:45.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:56:46.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:56:46.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.129117
[2026-09-13 11:56:46.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.0184984, -0.014936, -0.129117
[2026-09-13 11:56:46.875 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:56:46.932 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:56:46.932 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:56:46.938 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:56:46.939 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:56:46.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:56:46.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:56:46.940 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.334802, 0.48303, 3.11001
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:39
[2026-09-13 11:56:46.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:56:46.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 39
[2026-09-13 11:56:46.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:56:46.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:56:46.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:56:49.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:56:52.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:56:52.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 37
[2026-09-13 11:56:52.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 39
[2026-09-13 11:56:52.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:56:53.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:56:53.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:56:53.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00365233
[2026-09-13 11:56:53.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0917793, -0.00195793, -0.00365233
[2026-09-13 11:56:53.871 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:56:53.874 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:56:53.874 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:56:53.881 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:56:53.887 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:56:53.887 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:56:53.887 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:56:53.887 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:56:53.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:56:53.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:56:53.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:56:53.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:56:53.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:56:53.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:56:53.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:56:53.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:56:53.897 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:56:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:56:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:56:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:56:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:56:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:56:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:56:53.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:56:53.908 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:56:53.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:56:53.909 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:56:58.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:57:01.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:57:01.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 35
[2026-09-13 11:57:01.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 37
[2026-09-13 11:57:01.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:57:01.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:57:03.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:57:03.877 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.107585
[2026-09-13 11:57:03.877 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.0054888, 0.0100371, 0.107585
[2026-09-13 11:57:03.877 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:57:03.929 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:57:03.929 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:57:03.934 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:57:03.936 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:57:03.936 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:57:03.936 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:57:03.936 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.03145, -0.0657451, -1.861
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:18
[2026-09-13 11:57:03.950 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:57:03.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 18
[2026-09-13 11:57:03.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:57:03.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:57:03.953 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:57:07.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:57:08.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:57:08.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 18
[2026-09-13 11:57:08.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 18
[2026-09-13 11:57:08.965 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:57:09.165 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:57:10.866 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:57:10.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.146298
[2026-09-13 11:57:10.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.0062132, -0.0102985, -0.146298
[2026-09-13 11:57:10.868 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:57:10.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:57:10.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:57:10.972 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:57:10.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:57:10.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:57:10.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:57:10.983 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:57:10.993 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:57:10.994 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:57:10.994 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:19
[2026-09-13 11:57:10.994 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:57:10.996 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 19
[2026-09-13 11:57:10.997 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:57:10.997 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:57:10.997 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:57:14.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:57:16.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:57:16.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 19
[2026-09-13 11:57:16.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 19
[2026-09-13 11:57:16.067 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:57:16.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:57:17.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:57:17.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0872904
[2026-09-13 11:57:17.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.0129963, -0.00555177, -0.0872904
[2026-09-13 11:57:17.774 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:57:17.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:57:17.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:57:17.826 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:57:17.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:57:17.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:57:17.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:57:17.828 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.334802, 0.48303, 3.11001
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:39
[2026-09-13 11:57:17.842 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:57:17.853 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 39
[2026-09-13 11:57:17.854 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:57:17.854 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:57:17.854 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:57:20.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:57:23.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:57:23.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 37
[2026-09-13 11:57:23.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 39
[2026-09-13 11:57:23.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:57:24.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:57:24.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:57:24.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00501204
[2026-09-13 11:57:24.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0957026, -0.000432314, -0.00501204
[2026-09-13 11:57:24.570 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:57:24.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:57:24.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:57:24.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:57:24.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:57:24.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:57:24.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:57:24.668 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:57:24.685 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:57:24.686 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:57:24.686 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:38
[2026-09-13 11:57:24.686 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:57:24.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 38
[2026-09-13 11:57:24.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:57:24.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:57:24.697 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:57:29.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:57:32.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:57:32.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 36
[2026-09-13 11:57:32.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 38
[2026-09-13 11:57:32.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:57:32.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:57:34.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:57:34.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.07809
[2026-09-13 11:57:34.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00410269, 0.0205365, 0.07809
[2026-09-13 11:57:34.969 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:57:35.018 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:57:35.018 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:57:35.022 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:57:35.030 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:57:35.030 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:57:35.031 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:57:35.031 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:57:35.047 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.03145, -0.0657451, -1.861
[2026-09-13 11:57:35.048 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:18
[2026-09-13 11:57:35.048 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:57:35.050 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 18
[2026-09-13 11:57:35.050 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:57:35.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:57:35.053 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:57:38.167 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:57:40.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:57:40.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 18
[2026-09-13 11:57:40.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 18
[2026-09-13 11:57:40.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:57:40.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:57:42.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:57:42.074 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.117313
[2026-09-13 11:57:42.074 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.00469476, 0.00156291, -0.117313
[2026-09-13 11:57:42.074 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:57:42.162 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:57:42.162 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:57:42.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:57:42.176 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:57:42.176 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:57:42.176 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:57:42.176 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:57:42.186 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:18
[2026-09-13 11:57:42.187 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:57:42.189 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 18
[2026-09-13 11:57:42.189 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:57:42.189 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:57:42.189 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:57:45.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:57:47.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:57:47.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 18
[2026-09-13 11:57:47.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 18
[2026-09-13 11:57:47.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:57:47.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:57:48.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:57:48.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.130963
[2026-09-13 11:57:48.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00470177, -0.0118363, -0.130963
[2026-09-13 11:57:48.771 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:57:48.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:57:48.799 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:57:48.802 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:57:48.802 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:57:48.802 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:57:48.802 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:57:48.803 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:57:48.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:57:48.820 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.334802, 0.48303, 3.11001
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:39
[2026-09-13 11:57:48.821 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:57:48.839 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 39
[2026-09-13 11:57:48.839 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:57:48.839 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:57:48.839 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:57:51.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:57:54.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:57:54.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 37
[2026-09-13 11:57:54.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 39
[2026-09-13 11:57:54.765 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:57:55.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:57:55.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:57:55.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0092392
[2026-09-13 11:57:55.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0993038, 0.00276428, -0.0092392
[2026-09-13 11:57:55.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:57:55.650 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:57:55.650 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:57:55.654 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:57:55.663 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:57:55.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:57:55.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:57:55.664 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:57:55.674 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:57:55.675 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:57:55.689 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:57:55.689 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:57:55.689 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:57:55.689 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:57:59.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:58:03.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:58:03.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 35
[2026-09-13 11:58:03.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 37
[2026-09-13 11:58:03.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:58:03.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:58:05.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:58:05.577 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.128111
[2026-09-13 11:58:05.577 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00698471, 0.0105672, 0.128111
[2026-09-13 11:58:05.577 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:58:05.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:58:05.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:58:05.608 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:58:05.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:58:05.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:58:05.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:58:05.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:58:05.627 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.03145, -0.0657451, -1.861
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:18
[2026-09-13 11:58:05.628 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:58:05.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 18
[2026-09-13 11:58:05.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:58:05.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:58:05.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:58:05.927 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:58:05.928 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:58:05.928 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:58:05.928 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1836] ------>>> PLANNER Pause
[2026-09-13 11:58:09.543 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1849] ------>>> PLANNER RECOVER, pause time accumulated: 3s
[2026-09-13 11:58:09.543 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1853] ------>>> PLANNER RECOVER
[2026-09-13 11:58:12.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:58:14.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:58:14.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 18
[2026-09-13 11:58:14.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 18
[2026-09-13 11:58:14.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:58:14.568 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:58:16.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:58:16.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.139431
[2026-09-13 11:58:16.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00908286, -0.00904312, -0.139431
[2026-09-13 11:58:16.267 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:58:16.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:58:16.343 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:58:16.345 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:58:16.346 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:58:16.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:58:16.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:58:16.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:19
[2026-09-13 11:58:16.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:58:16.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 19
[2026-09-13 11:58:16.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:58:16.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:58:16.367 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:58:19.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:58:21.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:58:21.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 19
[2026-09-13 11:58:21.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 19
[2026-09-13 11:58:21.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:58:21.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:58:23.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:58:23.074 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.125598
[2026-09-13 11:58:23.074 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00206527, -0.0141333, -0.125598
[2026-09-13 11:58:23.074 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:58:23.076 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:58:23.076 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:58:23.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:58:23.080 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:58:23.080 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:58:23.080 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:58:23.080 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:58:23.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:58:23.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:58:23.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:58:23.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:58:23.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:58:23.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:58:23.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:58:23.097 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:58:23.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:58:23.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:58:23.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:58:23.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:58:23.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.334802, 0.48303, 3.11001
[2026-09-13 11:58:23.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:39
[2026-09-13 11:58:23.098 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:58:23.111 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 39
[2026-09-13 11:58:23.112 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:58:23.112 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:58:23.112 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:58:25.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:58:28.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:58:28.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 37
[2026-09-13 11:58:28.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 39
[2026-09-13 11:58:28.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:58:29.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:58:30.268 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:58:30.269 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.00869846
[2026-09-13 11:58:30.269 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0971205, -0.00646786, -0.00869846
[2026-09-13 11:58:30.269 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:58:30.326 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:58:30.326 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:58:30.332 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:58:30.333 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:58:30.333 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:58:30.333 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:58:30.333 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:58:30.347 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:58:30.348 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:58:30.348 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:58:30.348 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:58:30.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:58:30.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:58:30.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:58:30.360 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:58:34.467 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:58:37.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:58:37.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 35
[2026-09-13 11:58:37.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 37
[2026-09-13 11:58:37.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:58:38.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:58:40.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:58:40.076 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.113231
[2026-09-13 11:58:40.076 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00175019, 0.00720897, 0.113231
[2026-09-13 11:58:40.076 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:58:40.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:58:40.079 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:58:40.085 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:58:40.086 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:58:40.086 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:58:40.086 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:58:40.086 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.03145, -0.0657451, -1.861
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:18
[2026-09-13 11:58:40.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:58:40.102 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 18
[2026-09-13 11:58:40.102 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:58:40.102 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:58:40.102 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:58:43.166 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:58:45.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:58:45.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 18
[2026-09-13 11:58:45.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 18
[2026-09-13 11:58:45.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:58:45.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:58:47.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:58:47.074 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.114788
[2026-09-13 11:58:47.074 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.0051508, -0.00531688, -0.114788
[2026-09-13 11:58:47.074 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:58:47.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:58:47.127 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:58:47.135 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:58:47.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:58:47.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:58:47.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:58:47.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:58:47.148 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:58:47.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:18
[2026-09-13 11:58:47.149 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:58:47.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 18
[2026-09-13 11:58:47.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:58:47.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:58:47.151 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:58:49.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:58:51.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:58:51.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 18
[2026-09-13 11:58:51.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 18
[2026-09-13 11:58:51.968 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:58:52.168 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:58:53.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:58:53.770 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.106031
[2026-09-13 11:58:53.770 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00337888, -0.0128171, -0.106031
[2026-09-13 11:58:53.770 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:58:53.862 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:58:53.862 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:58:53.865 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:58:53.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:58:53.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:58:53.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:58:53.869 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.334802, 0.48303, 3.11001
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:39
[2026-09-13 11:58:53.883 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:58:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 39
[2026-09-13 11:58:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:58:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:58:53.898 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:58:56.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:59:00.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:59:00.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 37
[2026-09-13 11:59:00.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 39
[2026-09-13 11:59:00.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:59:00.465 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:59:01.065 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:59:01.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0049243
[2026-09-13 11:59:01.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0896735, 0.000411242, -0.0049243
[2026-09-13 11:59:01.066 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:59:01.115 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:59:01.115 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:59:01.120 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:59:01.121 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:59:01.121 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:59:01.121 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:59:01.121 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:59:01.136 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:59:01.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:37
[2026-09-13 11:59:01.137 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:59:01.147 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 37
[2026-09-13 11:59:01.147 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:59:01.147 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:59:01.147 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:59:05.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:59:08.966 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:59:08.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 36
[2026-09-13 11:59:08.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 37
[2026-09-13 11:59:08.967 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:59:09.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:59:11.266 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:59:11.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, 0.0984205
[2026-09-13 11:59:11.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00558122, 0.024504, 0.0984205
[2026-09-13 11:59:11.276 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:59:11.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:59:11.358 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:59:11.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:59:11.375 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:59:11.375 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:59:11.375 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:59:11.376 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 3.03145, -0.0657451, -1.861
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:18
[2026-09-13 11:59:11.387 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:59:11.390 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 18
[2026-09-13 11:59:11.390 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:59:11.390 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:59:11.390 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:59:14.665 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:59:16.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:59:16.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 18
[2026-09-13 11:59:16.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 18
[2026-09-13 11:59:16.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:59:16.766 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:59:18.566 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:59:18.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.114711
[2026-09-13 11:59:18.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.00400019, -0.00655191, -0.114711
[2026-09-13 11:59:18.567 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:59:18.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:59:18.607 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:59:18.609 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:59:18.616 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:59:18.616 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:59:18.616 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:59:18.616 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:59:18.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:59:18.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:59:18.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:59:18.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:59:18.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:59:18.630 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:59:18.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:59:18.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:59:18.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:59:18.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:59:18.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:59:18.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:59:18.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:59:18.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:19
[2026-09-13 11:59:18.631 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:59:18.634 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 19
[2026-09-13 11:59:18.634 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:59:18.634 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:59:18.634 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:59:21.565 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:59:23.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:59:23.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 19
[2026-09-13 11:59:23.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 19
[2026-09-13 11:59:23.466 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:59:23.666 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:59:25.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:59:25.275 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0881742
[2026-09-13 11:59:25.275 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: -0.00838416, -0.00335751, -0.0881742
[2026-09-13 11:59:25.275 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:59:25.342 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:59:25.342 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:59:25.348 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:59:25.350 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:59:25.350 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:59:25.350 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:59:25.350 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:59:25.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:59:25.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:59:25.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:59:25.363 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 0.334802, 0.48303, 3.11001
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:39
[2026-09-13 11:59:25.364 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:59:25.375 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 39
[2026-09-13 11:59:25.375 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:59:25.375 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:59:25.375 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:59:27.867 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:59:31.365 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:266] State machine ----> following transform tolerance : 0.3
[2026-09-13 11:59:31.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:267] State machine ----> following point id: 37
[2026-09-13 11:59:31.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:268] State machine ----> following data_path_control_.pathNode.size(): 39
[2026-09-13 11:59:31.366 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:275] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y
[2026-09-13 11:59:31.667 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:177] State machine ----> Set control state to ADJUSTMENT, adjust state to ADJUST_X_Y_YAW
[2026-09-13 11:59:32.265 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:198] State machine ----> Arrived target point.
[2026-09-13 11:59:32.271 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:205] --> angle err rpy: 0, 0, -0.0195291
[2026-09-13 11:59:32.271 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:206] --> adjust    err: 0.0887634, 0.00236363, -0.0195291
[2026-09-13 11:59:32.271 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:215] State machine ----> Set control state to FINISHED
[2026-09-13 11:59:32.277 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:59:32.277 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:59:32.277 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:59:32.277 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1836] ------>>> PLANNER Pause
[2026-09-13 11:59:32.286 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:59:32.286 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1684] ------>>> ------------------ <<<------



[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1685] ------>>> Execute task start <<<------
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1691] ------>>> Last Task !!! <<<------
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1714] Pose ctrl module inited
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1726] Set robot speed to: 0.8 m/s.
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1734] Set ignore obstacles: 0
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1735] Set back run: 0
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1736] Set obstacle bypass mode： 0
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1744] Reset collision time: 0
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 8888
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1746] Find nodes: 9999
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1749] Generate path ......... 
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1239] Target point: 2.26612, 0.400686, 1.46846
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1356] GEN PATH SIZE:38
[2026-09-13 11:59:32.380 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1405] task speed is 0.8, expected speed set to: 0.8
[2026-09-13 11:59:32.392 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1456] 采样后的轨迹点数: 38
[2026-09-13 11:59:32.392 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1760] Generate path successes, control state set to ROTATION
[2026-09-13 11:59:32.392 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1772] Set start flag to TRUE
[2026-09-13 11:59:32.392 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1778] Running......
[2026-09-13 11:59:37.068 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:386] State machine ----> Set control state to FOLLOWING
[2026-09-13 11:59:37.180 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:59:37.180 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:59:37.180 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:59:37.180 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1836] ------>>> PLANNER Pause
[2026-09-13 11:59:37.385 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1828] ------>>> PLANNER is already paused
[2026-09-13 11:59:38.154 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1828] ------>>> PLANNER is already paused
[2026-09-13 11:59:38.349 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1828] ------>>> PLANNER is already paused
[2026-09-13 11:59:49.100 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1808] ------>>> try to stop planner
[2026-09-13 11:59:49.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2130] Passby模式: 停止机器人运动
[2026-09-13 11:59:49.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2085] 发送停止命令: stop
[2026-09-13 11:59:49.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:2147] Passby模式成功停止
[2026-09-13 11:59:49.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1815] ------>>> PLANNER Stop
[2026-09-13 11:59:49.120 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1797] ------>>> Execute task finished <<<------
[2026-09-13 11:59:49.120 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1800] ------>>> --------------------- <<<------
[2026-09-13 11:59:50.103 UINFO /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:1819] ------>>> PLANNER is running, wait for stop. Control state now is:6