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Go2_navigation/unitree_slam/bin/logs/slam_server/20260913-105251.443906

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[2026-09-13 10:52:55.774] [INFO] lidar_type = mid360
[2026-09-13 10:52:58.064] [INFO] Init success.
[2026-09-13 10:59:19.298] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 10:59:19.298] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 10:59:19.331] [INFO] lidar_type = mid360
[2026-09-13 10:59:19.350] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 10:59:38.702] [INFO] Received request. apiId:1901 fun:stop node. parameter:{"data": {}}
[2026-09-13 10:59:38.702] [INFO] Thread is still running...
[2026-09-13 11:00:30.750] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:00:30.750] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:00:30.783] [INFO] Thread is already completed.
[2026-09-13 11:00:30.784] [INFO] lidar_type = mid360
[2026-09-13 11:00:30.813] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:00:36.727] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:00:36.727] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:00:36.728] [INFO] Thread is still running...
[2026-09-13 11:00:36.735] [INFO] lidar_type = mid360
[2026-09-13 11:00:36.762] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
[2026-09-13 11:07:47.062] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:07:47.062] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:07:47.092] [INFO] Thread is already completed.
[2026-09-13 11:07:47.092] [INFO] lidar_type = mid360
[2026-09-13 11:07:47.121] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:08:10.320] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:08:10.320] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:08:10.321] [INFO] Thread is still running...
[2026-09-13 11:08:10.322] [INFO] lidar_type = mid360
[2026-09-13 11:08:10.356] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
[2026-09-13 11:09:57.742] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:09:57.742] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:09:57.783] [INFO] Thread is already completed.
[2026-09-13 11:09:57.784] [INFO] lidar_type = mid360
[2026-09-13 11:09:57.806] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:12:56.175] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:12:56.175] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:12:56.178] [INFO] Thread is still running...
[2026-09-13 11:12:56.187] [INFO] lidar_type = mid360
[2026-09-13 11:12:56.220] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
[2026-09-13 11:12:57.985] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:12:57.985] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:12:58.048] [INFO] Thread is already completed.
[2026-09-13 11:12:58.049] [INFO] lidar_type = mid360
[2026-09-13 11:12:58.072] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:14:41.398] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:14:41.398] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:14:41.400] [INFO] Thread is still running...
[2026-09-13 11:14:41.422] [INFO] lidar_type = mid360
[2026-09-13 11:14:41.465] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
[2026-09-13 11:17:27.807] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:17:27.807] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:17:27.807] [INFO] Thread is already completed.
[2026-09-13 11:17:27.807] [INFO] lidar_type = mid360
[2026-09-13 11:17:27.850] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
[2026-09-13 11:17:28.626] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:17:28.626] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:17:28.626] [INFO] Thread is already completed.
[2026-09-13 11:17:28.626] [INFO] lidar_type = mid360
[2026-09-13 11:17:28.647] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
[2026-09-13 11:17:29.019] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:17:29.019] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:17:29.019] [INFO] Thread is already completed.
[2026-09-13 11:17:29.020] [INFO] lidar_type = mid360
[2026-09-13 11:17:29.047] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
[2026-09-13 11:17:29.254] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:17:29.254] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:17:29.254] [INFO] Thread is already completed.
[2026-09-13 11:17:29.254] [INFO] lidar_type = mid360
[2026-09-13 11:17:29.281] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
[2026-09-13 11:26:35.977] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:26:35.977] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:26:36.006] [INFO] Thread is already completed.
[2026-09-13 11:26:36.007] [INFO] lidar_type = mid360
[2026-09-13 11:26:36.033] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:28:38.263] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:28:38.263] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:28:38.263] [INFO] Thread is still running...
[2026-09-13 11:28:38.272] [INFO] lidar_type = mid360
[2026-09-13 11:28:40.604] [INFO] ICP Score:0.323342
[2026-09-13 11:28:40.628] [WARNING] Received pl relocation response (1): {"succeed":false,"errorCode":509,"info":"The current location matching degree is low (ICP).","data":{}}
[2026-09-13 11:29:00.383] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:29:00.383] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:29:00.383] [INFO] Thread is already completed.
[2026-09-13 11:29:00.383] [INFO] lidar_type = mid360
[2026-09-13 11:29:00.407] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
[2026-09-13 11:29:01.565] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:29:01.565] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:29:01.592] [INFO] Thread is already completed.
[2026-09-13 11:29:01.592] [INFO] lidar_type = mid360
[2026-09-13 11:29:01.615] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:29:14.342] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:29:14.343] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:29:14.343] [INFO] Thread is still running...
[2026-09-13 11:29:14.343] [INFO] lidar_type = mid360
[2026-09-13 11:29:16.490] [INFO] ICP Score:0.343089
[2026-09-13 11:29:16.515] [WARNING] Received pl relocation response (1): {"succeed":false,"errorCode":509,"info":"The current location matching degree is low (ICP).","data":{}}
[2026-09-13 11:29:42.229] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:29:42.229] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:29:42.229] [INFO] Thread is already completed.
[2026-09-13 11:29:42.230] [INFO] lidar_type = mid360
[2026-09-13 11:29:42.257] [WARNING] Received pl mapping response (1): {"succeed":false,"errorCode":505,"info":"Pcd size less than 1000.","data":{}}
[2026-09-13 11:29:42.910] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:29:42.910] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:29:42.910] [INFO] Thread is already completed.
[2026-09-13 11:29:42.911] [INFO] lidar_type = mid360
[2026-09-13 11:29:45.133] [INFO] ICP Score:0.306282
[2026-09-13 11:29:45.158] [WARNING] Received pl relocation response (1): {"succeed":false,"errorCode":509,"info":"The current location matching degree is low (ICP).","data":{}}
[2026-09-13 11:29:49.730] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:29:49.730] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:29:49.759] [INFO] Thread is already completed.
[2026-09-13 11:29:49.760] [INFO] lidar_type = mid360
[2026-09-13 11:29:49.783] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:30:58.455] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:30:58.455] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:30:58.457] [INFO] Thread is still running...
[2026-09-13 11:30:58.467] [INFO] lidar_type = mid360
[2026-09-13 11:30:58.508] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
[2026-09-13 11:31:22.308] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:31:22.308] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:31:22.308] [INFO] Thread is already completed.
[2026-09-13 11:31:22.309] [INFO] lidar_type = mid360
[2026-09-13 11:31:23.625] [INFO] ICP Score:0.00425968
[2026-09-13 11:31:23.658] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
[2026-09-13 11:31:26.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.2117 cpuTemp:62.531 cpuMemory:33.3235 cpuFrequency:1510.4
[2026-09-13 11:31:29.191] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7535 cpuTemp:62.6402 cpuMemory:33.3248 cpuFrequency:1510.4
[2026-09-13 11:31:30.476] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:30.476] [INFO] To get pl status.
[2026-09-13 11:31:30.476] [INFO] Received pl status: {"type":"pos_info","sec":1789270290,"nanosec":476132975,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.24101933106273657,"y":-0.009388585429988657,"z":0.019671646189745862,"q_w":0.992547597589034,"q_x":-0.016461074586822808,"q_y":0.11946404561472407,"q_z":-0.017511177831524352},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:30.476] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.24101933106273657,"y":-0.009388585429988655,"z":0.019671646189745862,"q_w":0.992547597589034,"q_x":-0.016461074586822808,"q_y":0.11946404561472408,"q_z":-0.017511177831524352},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:30.476] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:30.476] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:30.476] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:30.476] [INFO] edge(0) name:9999
[2026-09-13 11:31:30.476] [INFO] node(0) name:8888
[2026-09-13 11:31:30.477] [INFO] node(1) name:9999
[2026-09-13 11:31:30.477] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:30.477] [INFO] edge(0) name:9999
[2026-09-13 11:31:30.477] [INFO] node(0) name:8888
[2026-09-13 11:31:30.477] [INFO] node(1) name:9999
[2026-09-13 11:31:30.477] [INFO] Start control:
[2026-09-13 11:31:30.477] [INFO] Use normal control
[2026-09-13 11:31:31.890] [INFO] Control end.
[2026-09-13 11:31:31.890] [INFO] Pub slam key info: {"type":"task_result","sec":1789270291,"nanosec":890131728,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:31.895] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:31.895] [INFO] To get pl status.
[2026-09-13 11:31:31.895] [INFO] Received pl status: {"type":"pos_info","sec":1789270291,"nanosec":895706699,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09675798269613217,"y":-0.003154408550327744,"z":-0.0021655007734612377,"q_w":0.9949173371401929,"q_x":-0.003074677124730745,"q_y":0.10059522563310905,"q_z":0.0032617783907490905},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:31.895] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09675798269613216,"y":-0.003154408550327744,"z":-0.0021655007734612377,"q_w":0.9949173371401928,"q_x":-0.003074677124730745,"q_y":0.10059522563310903,"q_z":0.0032617783907490905},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:31.896] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:31.896] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:31.896] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:31.896] [INFO] edge(0) name:9999
[2026-09-13 11:31:31.896] [INFO] node(0) name:8888
[2026-09-13 11:31:31.896] [INFO] node(1) name:9999
[2026-09-13 11:31:31.896] [INFO] Thread is still running...
[2026-09-13 11:31:31.919] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:31.919] [INFO] edge(0) name:9999
[2026-09-13 11:31:31.919] [INFO] node(0) name:8888
[2026-09-13 11:31:31.919] [INFO] node(1) name:9999
[2026-09-13 11:31:31.919] [INFO] Start control:
[2026-09-13 11:31:31.919] [INFO] Use normal control
[2026-09-13 11:31:32.133] [INFO] Control end.
[2026-09-13 11:31:32.133] [INFO] Pub slam key info: {"type":"task_result","sec":1789270292,"nanosec":133527411,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:32.139] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:32.139] [INFO] To get pl status.
[2026-09-13 11:31:32.139] [INFO] Received pl status: {"type":"pos_info","sec":1789270292,"nanosec":139573918,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0778222853079567,"y":0.004656123766648675,"z":0.0007711883311347196,"q_w":0.9926626174074737,"q_x":-0.012174323216190414,"q_y":0.1202313198848393,"q_z":0.0041404800108984716},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:32.139] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0778222853079567,"y":0.004656123766648675,"z":0.0007711883311347196,"q_w":0.9926626174074736,"q_x":-0.012174323216190414,"q_y":0.1202313198848393,"q_z":0.004140480010898472},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:32.139] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:32.139] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:32.139] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:32.139] [INFO] edge(0) name:9999
[2026-09-13 11:31:32.139] [INFO] node(0) name:8888
[2026-09-13 11:31:32.139] [INFO] node(1) name:9999
[2026-09-13 11:31:32.140] [INFO] Thread is still running...
[2026-09-13 11:31:32.154] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:32.154] [INFO] edge(0) name:9999
[2026-09-13 11:31:32.154] [INFO] node(0) name:8888
[2026-09-13 11:31:32.154] [INFO] node(1) name:9999
[2026-09-13 11:31:32.154] [INFO] Start control:
[2026-09-13 11:31:32.154] [INFO] Use normal control
[2026-09-13 11:31:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.263 cpuTemp:62.6795 cpuMemory:33.4564 cpuFrequency:1510.4
[2026-09-13 11:31:32.360] [INFO] Control end.
[2026-09-13 11:31:32.360] [INFO] Pub slam key info: {"type":"task_result","sec":1789270292,"nanosec":360795162,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:32.362] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:32.362] [INFO] To get pl status.
[2026-09-13 11:31:32.363] [INFO] Received pl status: {"type":"pos_info","sec":1789270292,"nanosec":362936833,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08717071221224387,"y":0.009112638483554697,"z":0.010758964147522386,"q_w":0.9923358411516735,"q_x":-0.018974127118933357,"q_y":0.12190444243347906,"q_z":0.006990549396008182},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:32.363] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08717071221224387,"y":0.009112638483554696,"z":0.010758964147522386,"q_w":0.9923358411516736,"q_x":-0.018974127118933357,"q_y":0.12190444243347906,"q_z":0.006990549396008182},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:32.363] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:32.363] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:32.363] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:32.363] [INFO] edge(0) name:9999
[2026-09-13 11:31:32.363] [INFO] node(0) name:8888
[2026-09-13 11:31:32.363] [INFO] node(1) name:9999
[2026-09-13 11:31:32.363] [INFO] Thread is still running...
[2026-09-13 11:31:32.385] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:32.385] [INFO] edge(0) name:9999
[2026-09-13 11:31:32.385] [INFO] node(0) name:8888
[2026-09-13 11:31:32.385] [INFO] node(1) name:9999
[2026-09-13 11:31:32.385] [INFO] Start control:
[2026-09-13 11:31:32.385] [INFO] Use normal control
[2026-09-13 11:31:32.588] [INFO] Control end.
[2026-09-13 11:31:32.588] [INFO] Pub slam key info: {"type":"task_result","sec":1789270292,"nanosec":588858459,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:32.591] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:32.591] [INFO] To get pl status.
[2026-09-13 11:31:32.591] [INFO] Received pl status: {"type":"pos_info","sec":1789270292,"nanosec":591423473,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09784876572983182,"y":0.01026782690762511,"z":0.013306161266250584,"q_w":0.9923107801149752,"q_x":-0.024744743426840743,"q_y":0.12066789456008344,"q_z":0.0120943194428561},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:32.591] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09784876572983182,"y":0.01026782690762511,"z":0.013306161266250584,"q_w":0.9923107801149752,"q_x":-0.024744743426840743,"q_y":0.12066789456008344,"q_z":0.0120943194428561},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:32.591] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:32.591] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:32.591] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:32.591] [INFO] edge(0) name:9999
[2026-09-13 11:31:32.591] [INFO] node(0) name:8888
[2026-09-13 11:31:32.591] [INFO] node(1) name:9999
[2026-09-13 11:31:32.591] [INFO] Thread is still running...
[2026-09-13 11:31:32.614] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:32.614] [INFO] edge(0) name:9999
[2026-09-13 11:31:32.614] [INFO] node(0) name:8888
[2026-09-13 11:31:32.614] [INFO] node(1) name:9999
[2026-09-13 11:31:32.614] [INFO] Start control:
[2026-09-13 11:31:32.614] [INFO] Use normal control
[2026-09-13 11:31:33.118] [INFO] Control end.
[2026-09-13 11:31:33.118] [INFO] Pub slam key info: {"type":"task_result","sec":1789270293,"nanosec":118282167,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:33.121] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:33.121] [INFO] To get pl status.
[2026-09-13 11:31:33.121] [INFO] Received pl status: {"type":"pos_info","sec":1789270293,"nanosec":121060276,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0751533983636543,"y":0.003733188128571316,"z":0.013375344314759615,"q_w":0.9934216206798806,"q_x":-0.015532936774018671,"q_y":0.11333645886747187,"q_z":0.005201781648217595},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:33.121] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0751533983636543,"y":0.003733188128571316,"z":0.013375344314759617,"q_w":0.9934216206798806,"q_x":-0.015532936774018673,"q_y":0.11333645886747187,"q_z":0.005201781648217595},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:33.121] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:33.121] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:33.121] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:33.121] [INFO] edge(0) name:9999
[2026-09-13 11:31:33.121] [INFO] node(0) name:8888
[2026-09-13 11:31:33.121] [INFO] node(1) name:9999
[2026-09-13 11:31:33.121] [INFO] Thread is still running...
[2026-09-13 11:31:33.138] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:33.138] [INFO] edge(0) name:9999
[2026-09-13 11:31:33.138] [INFO] node(0) name:8888
[2026-09-13 11:31:33.138] [INFO] node(1) name:9999
[2026-09-13 11:31:33.138] [INFO] Start control:
[2026-09-13 11:31:33.138] [INFO] Use normal control
[2026-09-13 11:31:33.352] [INFO] Control end.
[2026-09-13 11:31:33.352] [INFO] Pub slam key info: {"type":"task_result","sec":1789270293,"nanosec":352041399,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:33.353] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:33.353] [INFO] To get pl status.
[2026-09-13 11:31:33.353] [INFO] Received pl status: {"type":"pos_info","sec":1789270293,"nanosec":353146492,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.06693472935064525,"y":0.005034936783370501,"z":0.015600620235430176,"q_w":0.991969226745423,"q_x":-0.013111432926565613,"q_y":0.12524267017574978,"q_z":0.011807501172922149},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:33.353] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.06693472935064525,"y":0.005034936783370501,"z":0.015600620235430176,"q_w":0.991969226745423,"q_x":-0.013111432926565612,"q_y":0.12524267017574978,"q_z":0.011807501172922149},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:33.353] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:33.353] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:33.353] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:33.353] [INFO] edge(0) name:9999
[2026-09-13 11:31:33.353] [INFO] node(0) name:8888
[2026-09-13 11:31:33.353] [INFO] node(1) name:9999
[2026-09-13 11:31:33.353] [INFO] Thread is still running...
[2026-09-13 11:31:33.378] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:33.378] [INFO] edge(0) name:9999
[2026-09-13 11:31:33.378] [INFO] node(0) name:8888
[2026-09-13 11:31:33.379] [INFO] node(1) name:9999
[2026-09-13 11:31:33.379] [INFO] Start control:
[2026-09-13 11:31:33.379] [INFO] Use normal control
[2026-09-13 11:31:33.583] [INFO] Control end.
[2026-09-13 11:31:33.583] [INFO] Pub slam key info: {"type":"task_result","sec":1789270293,"nanosec":583636239,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:33.588] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:33.588] [INFO] To get pl status.
[2026-09-13 11:31:33.588] [INFO] Received pl status: {"type":"pos_info","sec":1789270293,"nanosec":588452976,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0812286737773424,"y":0.005202838791911758,"z":0.020205225644536154,"q_w":0.9921194005376167,"q_x":-0.012961923670251214,"q_y":0.12418654486438964,"q_z":0.010430037693686745},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:33.588] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0812286737773424,"y":0.005202838791911758,"z":0.02020522564453615,"q_w":0.9921194005376168,"q_x":-0.012961923670251214,"q_y":0.12418654486438964,"q_z":0.010430037693686745},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:33.588] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:33.588] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:33.588] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:33.588] [INFO] edge(0) name:9999
[2026-09-13 11:31:33.588] [INFO] node(0) name:8888
[2026-09-13 11:31:33.588] [INFO] node(1) name:9999
[2026-09-13 11:31:33.588] [INFO] Thread is still running...
[2026-09-13 11:31:33.611] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:33.611] [INFO] edge(0) name:9999
[2026-09-13 11:31:33.619] [INFO] node(0) name:8888
[2026-09-13 11:31:33.619] [INFO] node(1) name:9999
[2026-09-13 11:31:33.619] [INFO] Start control:
[2026-09-13 11:31:33.619] [INFO] Use normal control
[2026-09-13 11:31:33.822] [INFO] Control end.
[2026-09-13 11:31:33.822] [INFO] Pub slam key info: {"type":"task_result","sec":1789270293,"nanosec":822403415,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:33.824] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:33.824] [INFO] To get pl status.
[2026-09-13 11:31:33.824] [INFO] Received pl status: {"type":"pos_info","sec":1789270293,"nanosec":824297654,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08654515747627102,"y":0.003753604187853057,"z":0.020012308363569074,"q_w":0.9922413739798228,"q_x":-0.015731178011254735,"q_y":0.12289991489093681,"q_z":0.010256545266904716},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:33.824] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08654515747627102,"y":0.003753604187853057,"z":0.020012308363569074,"q_w":0.9922413739798228,"q_x":-0.015731178011254735,"q_y":0.1228999148909368,"q_z":0.010256545266904716},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:33.824] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:33.824] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:33.824] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:33.824] [INFO] edge(0) name:9999
[2026-09-13 11:31:33.824] [INFO] node(0) name:8888
[2026-09-13 11:31:33.824] [INFO] node(1) name:9999
[2026-09-13 11:31:33.824] [INFO] Thread is still running...
[2026-09-13 11:31:33.845] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:33.845] [INFO] edge(0) name:9999
[2026-09-13 11:31:33.845] [INFO] node(0) name:8888
[2026-09-13 11:31:33.845] [INFO] node(1) name:9999
[2026-09-13 11:31:33.845] [INFO] Start control:
[2026-09-13 11:31:33.845] [INFO] Use normal control
[2026-09-13 11:31:34.059] [INFO] Control end.
[2026-09-13 11:31:34.059] [INFO] Pub slam key info: {"type":"task_result","sec":1789270294,"nanosec":59797169,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:34.062] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:34.062] [INFO] To get pl status.
[2026-09-13 11:31:34.062] [INFO] Received pl status: {"type":"pos_info","sec":1789270294,"nanosec":62897177,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09424349500390873,"y":0.0039034473425189767,"z":0.019506985783948754,"q_w":0.9923331532337109,"q_x":-0.016505755310706513,"q_y":0.1220144462303416,"q_z":0.010721377988238774},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.062] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09424349500390872,"y":0.0039034473425189767,"z":0.01950698578394875,"q_w":0.9923331532337109,"q_x":-0.016505755310706513,"q_y":0.1220144462303416,"q_z":0.010721377988238774},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.063] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:34.063] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:34.063] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:34.063] [INFO] edge(0) name:9999
[2026-09-13 11:31:34.063] [INFO] node(0) name:8888
[2026-09-13 11:31:34.063] [INFO] node(1) name:9999
[2026-09-13 11:31:34.063] [INFO] Thread is still running...
[2026-09-13 11:31:34.089] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:34.089] [INFO] edge(0) name:9999
[2026-09-13 11:31:34.089] [INFO] node(0) name:8888
[2026-09-13 11:31:34.089] [INFO] node(1) name:9999
[2026-09-13 11:31:34.089] [INFO] Start control:
[2026-09-13 11:31:34.089] [INFO] Use normal control
[2026-09-13 11:31:34.292] [INFO] Control end.
[2026-09-13 11:31:34.292] [INFO] Pub slam key info: {"type":"task_result","sec":1789270294,"nanosec":292781175,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:34.295] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:34.295] [INFO] To get pl status.
[2026-09-13 11:31:34.295] [INFO] Received pl status: {"type":"pos_info","sec":1789270294,"nanosec":295481330,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09743305066785322,"y":0.006819968110004504,"z":0.01832443706222846,"q_w":0.9922583502927187,"q_x":-0.017189559527450236,"q_y":0.12262196605732623,"q_z":0.009578035177454728},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.295] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09743305066785322,"y":0.006819968110004504,"z":0.01832443706222846,"q_w":0.9922583502927188,"q_x":-0.017189559527450236,"q_y":0.12262196605732624,"q_z":0.009578035177454728},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.295] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:34.295] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:34.296] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:34.296] [INFO] edge(0) name:9999
[2026-09-13 11:31:34.296] [INFO] node(0) name:8888
[2026-09-13 11:31:34.296] [INFO] node(1) name:9999
[2026-09-13 11:31:34.296] [INFO] Thread is still running...
[2026-09-13 11:31:34.313] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:34.313] [INFO] edge(0) name:9999
[2026-09-13 11:31:34.313] [INFO] node(0) name:8888
[2026-09-13 11:31:34.313] [INFO] node(1) name:9999
[2026-09-13 11:31:34.313] [INFO] Start control:
[2026-09-13 11:31:34.313] [INFO] Use normal control
[2026-09-13 11:31:34.522] [INFO] Control end.
[2026-09-13 11:31:34.522] [INFO] Pub slam key info: {"type":"task_result","sec":1789270294,"nanosec":522815610,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:34.525] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:34.525] [INFO] To get pl status.
[2026-09-13 11:31:34.525] [INFO] Received pl status: {"type":"pos_info","sec":1789270294,"nanosec":525792126,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09698877829337796,"y":0.006494050289059798,"z":0.018561284681800534,"q_w":0.9923322737306444,"q_x":-0.017261486989192207,"q_y":0.12202589083373849,"q_z":0.00940114597929563},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.525] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09698877829337796,"y":0.006494050289059798,"z":0.018561284681800537,"q_w":0.9923322737306444,"q_x":-0.017261486989192207,"q_y":0.12202589083373848,"q_z":0.00940114597929563},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.526] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:34.526] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:34.526] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:34.526] [INFO] edge(0) name:9999
[2026-09-13 11:31:34.526] [INFO] node(0) name:8888
[2026-09-13 11:31:34.526] [INFO] node(1) name:9999
[2026-09-13 11:31:34.526] [INFO] Thread is still running...
[2026-09-13 11:31:34.543] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:34.543] [INFO] edge(0) name:9999
[2026-09-13 11:31:34.543] [INFO] node(0) name:8888
[2026-09-13 11:31:34.543] [INFO] node(1) name:9999
[2026-09-13 11:31:34.543] [INFO] Start control:
[2026-09-13 11:31:34.543] [INFO] Use normal control
[2026-09-13 11:31:34.759] [INFO] Control end.
[2026-09-13 11:31:34.759] [INFO] Pub slam key info: {"type":"task_result","sec":1789270294,"nanosec":759034925,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:34.763] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:34.763] [INFO] To get pl status.
[2026-09-13 11:31:34.763] [INFO] Received pl status: {"type":"pos_info","sec":1789270294,"nanosec":763121110,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09765645679460624,"y":0.0071089114806275056,"z":0.019140093115141216,"q_w":0.9923331281015911,"q_x":-0.01689129245201737,"q_y":0.12210367670747872,"q_z":0.008963216271354782},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.763] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09765645679460624,"y":0.0071089114806275056,"z":0.019140093115141216,"q_w":0.9923331281015912,"q_x":-0.01689129245201737,"q_y":0.12210367670747872,"q_z":0.008963216271354782},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.763] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:34.763] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:34.764] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:34.764] [INFO] edge(0) name:9999
[2026-09-13 11:31:34.764] [INFO] node(0) name:8888
[2026-09-13 11:31:34.764] [INFO] node(1) name:9999
[2026-09-13 11:31:34.764] [INFO] Thread is still running...
[2026-09-13 11:31:34.782] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:34.782] [INFO] edge(0) name:9999
[2026-09-13 11:31:34.782] [INFO] node(0) name:8888
[2026-09-13 11:31:34.782] [INFO] node(1) name:9999
[2026-09-13 11:31:34.782] [INFO] Start control:
[2026-09-13 11:31:34.782] [INFO] Use normal control
[2026-09-13 11:31:34.995] [INFO] Control end.
[2026-09-13 11:31:34.995] [INFO] Pub slam key info: {"type":"task_result","sec":1789270294,"nanosec":995778033,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:34.999] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:34.999] [INFO] To get pl status.
[2026-09-13 11:31:34.999] [INFO] Received pl status: {"type":"pos_info","sec":1789270294,"nanosec":999722165,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09996075406858848,"y":0.004869485287180383,"z":0.020019799560369363,"q_w":0.9923148338261372,"q_x":-0.017667246400742194,"q_y":0.12221012925455307,"q_z":0.00798894741544022},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.999] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09996075406858848,"y":0.004869485287180383,"z":0.020019799560369363,"q_w":0.9923148338261372,"q_x":-0.017667246400742194,"q_y":0.12221012925455307,"q_z":0.00798894741544022},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:34.999] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:34.999] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:35.000] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:35.000] [INFO] edge(0) name:9999
[2026-09-13 11:31:35.000] [INFO] node(0) name:8888
[2026-09-13 11:31:35.000] [INFO] node(1) name:9999
[2026-09-13 11:31:35.000] [INFO] Thread is still running...
[2026-09-13 11:31:35.027] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:35.027] [INFO] edge(0) name:9999
[2026-09-13 11:31:35.027] [INFO] node(0) name:8888
[2026-09-13 11:31:35.027] [INFO] node(1) name:9999
[2026-09-13 11:31:35.027] [INFO] Start control:
[2026-09-13 11:31:35.027] [INFO] Use normal control
[2026-09-13 11:31:35.180] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.715 cpuTemp:62.8435 cpuMemory:33.3678 cpuFrequency:1510.4
[2026-09-13 11:31:35.430] [INFO] Control end.
[2026-09-13 11:31:35.431] [INFO] Pub slam key info: {"type":"task_result","sec":1789270295,"nanosec":430989750,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:35.433] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:35.433] [INFO] To get pl status.
[2026-09-13 11:31:35.433] [INFO] Received pl status: {"type":"pos_info","sec":1789270295,"nanosec":433762643,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.087512926599343,"y":0.004672908349051344,"z":0.01868400346572064,"q_w":0.9928250389407975,"q_x":-0.014949183973218786,"q_y":0.1184928074150439,"q_z":0.005866731768211619},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:35.433] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.087512926599343,"y":0.004672908349051344,"z":0.01868400346572064,"q_w":0.9928250389407977,"q_x":-0.014949183973218786,"q_y":0.1184928074150439,"q_z":0.005866731768211619},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:35.434] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:35.434] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:35.434] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:35.434] [INFO] edge(0) name:9999
[2026-09-13 11:31:35.434] [INFO] node(0) name:8888
[2026-09-13 11:31:35.434] [INFO] node(1) name:9999
[2026-09-13 11:31:35.434] [INFO] Thread is still running...
[2026-09-13 11:31:35.456] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:35.456] [INFO] edge(0) name:9999
[2026-09-13 11:31:35.456] [INFO] node(0) name:8888
[2026-09-13 11:31:35.456] [INFO] node(1) name:9999
[2026-09-13 11:31:35.456] [INFO] Start control:
[2026-09-13 11:31:35.456] [INFO] Use normal control
[2026-09-13 11:31:35.659] [INFO] Control end.
[2026-09-13 11:31:35.659] [INFO] Pub slam key info: {"type":"task_result","sec":1789270295,"nanosec":659701932,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:35.663] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:35.663] [INFO] To get pl status.
[2026-09-13 11:31:35.663] [INFO] Received pl status: {"type":"pos_info","sec":1789270295,"nanosec":663266052,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.07768688110909994,"y":0.005665902807755917,"z":0.02138722773009857,"q_w":0.991752699087283,"q_x":-0.015597046815444963,"q_y":0.12670013900206914,"q_z":0.011418877378371342},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:35.663] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.07768688110909994,"y":0.005665902807755917,"z":0.02138722773009857,"q_w":0.991752699087283,"q_x":-0.015597046815444965,"q_y":0.12670013900206914,"q_z":0.011418877378371342},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:35.663] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:35.663] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:35.664] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:35.664] [INFO] edge(0) name:9999
[2026-09-13 11:31:35.664] [INFO] node(0) name:8888
[2026-09-13 11:31:35.664] [INFO] node(1) name:9999
[2026-09-13 11:31:35.664] [INFO] Thread is still running...
[2026-09-13 11:31:35.680] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:35.680] [INFO] edge(0) name:9999
[2026-09-13 11:31:35.680] [INFO] node(0) name:8888
[2026-09-13 11:31:35.680] [INFO] node(1) name:9999
[2026-09-13 11:31:35.680] [INFO] Start control:
[2026-09-13 11:31:35.680] [INFO] Use normal control
[2026-09-13 11:31:35.884] [INFO] Control end.
[2026-09-13 11:31:35.884] [INFO] Pub slam key info: {"type":"task_result","sec":1789270295,"nanosec":884424350,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:35.889] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:35.889] [INFO] To get pl status.
[2026-09-13 11:31:35.889] [INFO] Received pl status: {"type":"pos_info","sec":1789270295,"nanosec":889111675,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0880519933503517,"y":0.003601939512729425,"z":0.022189624561752382,"q_w":0.9919552903433014,"q_x":-0.015116770313278526,"q_y":0.12528667040888555,"q_z":0.009971731699527742},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:35.889] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0880519933503517,"y":0.003601939512729425,"z":0.022189624561752386,"q_w":0.9919552903433014,"q_x":-0.015116770313278526,"q_y":0.12528667040888555,"q_z":0.009971731699527742},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:35.889] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:35.889] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:35.889] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:35.889] [INFO] edge(0) name:9999
[2026-09-13 11:31:35.889] [INFO] node(0) name:8888
[2026-09-13 11:31:35.889] [INFO] node(1) name:9999
[2026-09-13 11:31:35.889] [INFO] Thread is still running...
[2026-09-13 11:31:35.907] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:35.907] [INFO] edge(0) name:9999
[2026-09-13 11:31:35.907] [INFO] node(0) name:8888
[2026-09-13 11:31:35.908] [INFO] node(1) name:9999
[2026-09-13 11:31:35.908] [INFO] Start control:
[2026-09-13 11:31:35.908] [INFO] Use normal control
[2026-09-13 11:31:36.114] [INFO] Control end.
[2026-09-13 11:31:36.114] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":114411103,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:36.117] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:36.117] [INFO] To get pl status.
[2026-09-13 11:31:36.117] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":117685133,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08996267021129424,"y":0.004631909934533689,"z":0.02279196693625271,"q_w":0.9920022667106936,"q_x":-0.015535085821297066,"q_y":0.12500842610490318,"q_z":0.007940865956925084},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:36.117] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08996267021129424,"y":0.004631909934533689,"z":0.02279196693625271,"q_w":0.9920022667106936,"q_x":-0.015535085821297066,"q_y":0.12500842610490318,"q_z":0.007940865956925084},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:36.117] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:36.117] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:36.117] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:36.118] [INFO] edge(0) name:9999
[2026-09-13 11:31:36.118] [INFO] node(0) name:8888
[2026-09-13 11:31:36.118] [INFO] node(1) name:9999
[2026-09-13 11:31:36.118] [INFO] Thread is still running...
[2026-09-13 11:31:36.144] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:36.144] [INFO] edge(0) name:9999
[2026-09-13 11:31:36.144] [INFO] node(0) name:8888
[2026-09-13 11:31:36.144] [INFO] node(1) name:9999
[2026-09-13 11:31:36.144] [INFO] Start control:
[2026-09-13 11:31:36.144] [INFO] Use normal control
[2026-09-13 11:31:36.354] [INFO] Control end.
[2026-09-13 11:31:36.355] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":354833951,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:36.357] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:36.357] [INFO] To get pl status.
[2026-09-13 11:31:36.357] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":357354515,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09560228084981186,"y":0.006490390349671917,"z":0.021548944531507574,"q_w":0.9918867953755959,"q_x":-0.01631109162715609,"q_y":0.12589038130491884,"q_z":0.006793036461233677},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:36.357] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09560228084981186,"y":0.006490390349671917,"z":0.021548944531507574,"q_w":0.991886795375596,"q_x":-0.01631109162715609,"q_y":0.12589038130491884,"q_z":0.006793036461233677},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:36.357] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:36.357] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:36.357] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:36.358] [INFO] edge(0) name:9999
[2026-09-13 11:31:36.358] [INFO] node(0) name:8888
[2026-09-13 11:31:36.358] [INFO] node(1) name:9999
[2026-09-13 11:31:36.358] [INFO] Thread is still running...
[2026-09-13 11:31:36.382] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:36.382] [INFO] edge(0) name:9999
[2026-09-13 11:31:36.382] [INFO] node(0) name:8888
[2026-09-13 11:31:36.382] [INFO] node(1) name:9999
[2026-09-13 11:31:36.382] [INFO] Start control:
[2026-09-13 11:31:36.382] [INFO] Use normal control
[2026-09-13 11:31:36.599] [INFO] Control end.
[2026-09-13 11:31:36.599] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":599421930,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:36.603] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:36.603] [INFO] To get pl status.
[2026-09-13 11:31:36.603] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":603065412,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09506662095445176,"y":0.007049227516428076,"z":0.022146252501932428,"q_w":0.9919427360769182,"q_x":-0.015528330140428622,"q_y":0.1255719274394233,"q_z":0.006338008081068544},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:36.603] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09506662095445176,"y":0.007049227516428076,"z":0.022146252501932428,"q_w":0.9919427360769182,"q_x":-0.015528330140428622,"q_y":0.1255719274394233,"q_z":0.006338008081068544},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:36.603] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:36.603] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:36.603] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:36.603] [INFO] edge(0) name:9999
[2026-09-13 11:31:36.603] [INFO] node(0) name:8888
[2026-09-13 11:31:36.603] [INFO] node(1) name:9999
[2026-09-13 11:31:36.603] [INFO] Thread is still running...
[2026-09-13 11:31:36.627] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:36.627] [INFO] edge(0) name:9999
[2026-09-13 11:31:36.627] [INFO] node(0) name:8888
[2026-09-13 11:31:36.627] [INFO] node(1) name:9999
[2026-09-13 11:31:36.627] [INFO] Start control:
[2026-09-13 11:31:36.627] [INFO] Use normal control
[2026-09-13 11:31:36.830] [INFO] Control end.
[2026-09-13 11:31:36.830] [INFO] Pub slam key info: {"type":"task_result","sec":1789270296,"nanosec":830369548,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:36.832] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:36.832] [INFO] To get pl status.
[2026-09-13 11:31:36.832] [INFO] Received pl status: {"type":"pos_info","sec":1789270296,"nanosec":832308077,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09276341072657275,"y":0.0035488103451538217,"z":0.021822423171357463,"q_w":0.9919121248843089,"q_x":-0.016381616021102108,"q_y":0.12572481822870085,"q_z":0.005937107493747019},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:36.832] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09276341072657276,"y":0.0035488103451538217,"z":0.021822423171357463,"q_w":0.9919121248843088,"q_x":-0.016381616021102108,"q_y":0.12572481822870085,"q_z":0.005937107493747019},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:36.832] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:36.832] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:36.832] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:36.832] [INFO] edge(0) name:9999
[2026-09-13 11:31:36.832] [INFO] node(0) name:8888
[2026-09-13 11:31:36.832] [INFO] node(1) name:9999
[2026-09-13 11:31:36.832] [INFO] Thread is still running...
[2026-09-13 11:31:36.850] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:36.851] [INFO] edge(0) name:9999
[2026-09-13 11:31:36.851] [INFO] node(0) name:8888
[2026-09-13 11:31:36.851] [INFO] node(1) name:9999
[2026-09-13 11:31:36.851] [INFO] Start control:
[2026-09-13 11:31:36.851] [INFO] Use normal control
[2026-09-13 11:31:37.057] [INFO] Control end.
[2026-09-13 11:31:37.057] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":57095232,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:37.059] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:37.059] [INFO] To get pl status.
[2026-09-13 11:31:37.059] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":59116036,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0957074234406669,"y":0.0036055270304623816,"z":0.022421304920945732,"q_w":0.9919506345512773,"q_x":-0.016206836349079896,"q_y":0.12541852408172424,"q_z":0.006439789284953344},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.059] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0957074234406669,"y":0.0036055270304623816,"z":0.022421304920945732,"q_w":0.9919506345512772,"q_x":-0.016206836349079896,"q_y":0.12541852408172424,"q_z":0.006439789284953344},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.060] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:37.060] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:37.060] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:37.060] [INFO] edge(0) name:9999
[2026-09-13 11:31:37.060] [INFO] node(0) name:8888
[2026-09-13 11:31:37.060] [INFO] node(1) name:9999
[2026-09-13 11:31:37.060] [INFO] Thread is still running...
[2026-09-13 11:31:37.084] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:37.084] [INFO] edge(0) name:9999
[2026-09-13 11:31:37.084] [INFO] node(0) name:8888
[2026-09-13 11:31:37.084] [INFO] node(1) name:9999
[2026-09-13 11:31:37.084] [INFO] Start control:
[2026-09-13 11:31:37.084] [INFO] Use normal control
[2026-09-13 11:31:37.288] [INFO] Control end.
[2026-09-13 11:31:37.288] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":288498673,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:37.292] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:37.292] [INFO] To get pl status.
[2026-09-13 11:31:37.292] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":292467510,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09786298296858591,"y":0.006404771572292981,"z":0.02152931034717907,"q_w":0.9919355998233788,"q_x":-0.015940783045450685,"q_y":0.12559646579398814,"q_z":0.005931696131075823},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.292] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09786298296858592,"y":0.006404771572292981,"z":0.02152931034717907,"q_w":0.9919355998233788,"q_x":-0.015940783045450685,"q_y":0.12559646579398814,"q_z":0.005931696131075823},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.292] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:37.292] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:37.292] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:37.292] [INFO] edge(0) name:9999
[2026-09-13 11:31:37.292] [INFO] node(0) name:8888
[2026-09-13 11:31:37.292] [INFO] node(1) name:9999
[2026-09-13 11:31:37.292] [INFO] Thread is still running...
[2026-09-13 11:31:37.319] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:37.319] [INFO] edge(0) name:9999
[2026-09-13 11:31:37.319] [INFO] node(0) name:8888
[2026-09-13 11:31:37.319] [INFO] node(1) name:9999
[2026-09-13 11:31:37.319] [INFO] Start control:
[2026-09-13 11:31:37.319] [INFO] Use normal control
[2026-09-13 11:31:37.522] [INFO] Control end.
[2026-09-13 11:31:37.522] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":522185359,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:37.526] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:37.526] [INFO] To get pl status.
[2026-09-13 11:31:37.526] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":526726407,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09858918520545028,"y":0.003357964124991226,"z":0.021511062393121536,"q_w":0.991919514144627,"q_x":-0.015971989649089403,"q_y":0.1257095269124944,"q_z":0.006139043017730143},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.526] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09858918520545028,"y":0.003357964124991226,"z":0.021511062393121536,"q_w":0.991919514144627,"q_x":-0.015971989649089403,"q_y":0.1257095269124944,"q_z":0.006139043017730143},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.526] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:37.526] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:37.527] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:37.527] [INFO] edge(0) name:9999
[2026-09-13 11:31:37.527] [INFO] node(0) name:8888
[2026-09-13 11:31:37.527] [INFO] node(1) name:9999
[2026-09-13 11:31:37.527] [INFO] Thread is still running...
[2026-09-13 11:31:37.551] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:37.551] [INFO] edge(0) name:9999
[2026-09-13 11:31:37.551] [INFO] node(0) name:8888
[2026-09-13 11:31:37.551] [INFO] node(1) name:9999
[2026-09-13 11:31:37.551] [INFO] Start control:
[2026-09-13 11:31:37.551] [INFO] Use normal control
[2026-09-13 11:31:37.754] [INFO] Control end.
[2026-09-13 11:31:37.754] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":754752455,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:37.756] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:37.756] [INFO] To get pl status.
[2026-09-13 11:31:37.756] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":756808364,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09718540305457124,"y":0.007164494628429303,"z":0.020697450970538735,"q_w":0.9919078069919655,"q_x":-0.016029006204645514,"q_y":0.1258134509194307,"q_z":0.005740118136882243},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.757] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09718540305457124,"y":0.007164494628429303,"z":0.020697450970538735,"q_w":0.9919078069919656,"q_x":-0.016029006204645514,"q_y":0.1258134509194307,"q_z":0.005740118136882243},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.757] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:37.757] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:37.757] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:37.757] [INFO] edge(0) name:9999
[2026-09-13 11:31:37.757] [INFO] node(0) name:8888
[2026-09-13 11:31:37.757] [INFO] node(1) name:9999
[2026-09-13 11:31:37.757] [INFO] Thread is still running...
[2026-09-13 11:31:37.775] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:37.775] [INFO] edge(0) name:9999
[2026-09-13 11:31:37.775] [INFO] node(0) name:8888
[2026-09-13 11:31:37.775] [INFO] node(1) name:9999
[2026-09-13 11:31:37.775] [INFO] Start control:
[2026-09-13 11:31:37.775] [INFO] Use normal control
[2026-09-13 11:31:37.983] [INFO] Control end.
[2026-09-13 11:31:37.983] [INFO] Pub slam key info: {"type":"task_result","sec":1789270297,"nanosec":983810729,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:37.986] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:37.986] [INFO] To get pl status.
[2026-09-13 11:31:37.986] [INFO] Received pl status: {"type":"pos_info","sec":1789270297,"nanosec":986140984,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09864618383987073,"y":0.006717907847287729,"z":0.017533727657996427,"q_w":0.9918500971321017,"q_x":-0.016264024314097507,"q_y":0.1262462912848891,"q_z":0.0055443907656068745},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.986] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09864618383987073,"y":0.006717907847287729,"z":0.017533727657996427,"q_w":0.9918500971321016,"q_x":-0.016264024314097507,"q_y":0.1262462912848891,"q_z":0.0055443907656068745},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:37.986] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:37.986] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:37.986] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:37.986] [INFO] edge(0) name:9999
[2026-09-13 11:31:37.986] [INFO] node(0) name:8888
[2026-09-13 11:31:37.986] [INFO] node(1) name:9999
[2026-09-13 11:31:37.986] [INFO] Thread is still running...
[2026-09-13 11:31:38.011] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:38.011] [INFO] edge(0) name:9999
[2026-09-13 11:31:38.011] [INFO] node(0) name:8888
[2026-09-13 11:31:38.011] [INFO] node(1) name:9999
[2026-09-13 11:31:38.011] [INFO] Start control:
[2026-09-13 11:31:38.011] [INFO] Use normal control
[2026-09-13 11:31:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.9085 cpuTemp:62.8355 cpuMemory:33.3711 cpuFrequency:1510.4
[2026-09-13 11:31:38.230] [INFO] Control end.
[2026-09-13 11:31:38.230] [INFO] Pub slam key info: {"type":"task_result","sec":1789270298,"nanosec":230335158,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:38.231] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:38.231] [INFO] To get pl status.
[2026-09-13 11:31:38.232] [INFO] Received pl status: {"type":"pos_info","sec":1789270298,"nanosec":231971565,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09692736662148446,"y":0.006685485480415948,"z":0.019582118423829453,"q_w":0.9920227764676551,"q_x":-0.015797783422412153,"q_y":0.1249427633863966,"q_z":0.00552692371166004},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:38.232] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09692736662148446,"y":0.006685485480415948,"z":0.019582118423829453,"q_w":0.9920227764676552,"q_x":-0.015797783422412153,"q_y":0.1249427633863966,"q_z":0.00552692371166004},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:38.232] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:38.232] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:38.232] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:38.232] [INFO] edge(0) name:9999
[2026-09-13 11:31:38.232] [INFO] node(0) name:8888
[2026-09-13 11:31:38.232] [INFO] node(1) name:9999
[2026-09-13 11:31:38.232] [INFO] Thread is still running...
[2026-09-13 11:31:38.255] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:38.255] [INFO] edge(0) name:9999
[2026-09-13 11:31:38.255] [INFO] node(0) name:8888
[2026-09-13 11:31:38.255] [INFO] node(1) name:9999
[2026-09-13 11:31:38.255] [INFO] Start control:
[2026-09-13 11:31:38.255] [INFO] Use normal control
[2026-09-13 11:31:38.458] [INFO] Control end.
[2026-09-13 11:31:38.458] [INFO] Pub slam key info: {"type":"task_result","sec":1789270298,"nanosec":458580061,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:38.463] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:38.463] [INFO] To get pl status.
[2026-09-13 11:31:38.464] [INFO] Received pl status: {"type":"pos_info","sec":1789270298,"nanosec":463990066,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09724427550074997,"y":0.006730072179800165,"z":0.021319179663974844,"q_w":0.9919350986755162,"q_x":-0.016069918383238305,"q_y":0.12560502068978072,"q_z":0.005467770685534024},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:38.464] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09724427550074996,"y":0.006730072179800165,"z":0.021319179663974844,"q_w":0.9919350986755162,"q_x":-0.016069918383238305,"q_y":0.12560502068978072,"q_z":0.005467770685534024},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:38.464] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:38.464] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:38.464] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:38.464] [INFO] edge(0) name:9999
[2026-09-13 11:31:38.465] [INFO] node(0) name:8888
[2026-09-13 11:31:38.465] [INFO] node(1) name:9999
[2026-09-13 11:31:38.465] [INFO] Thread is still running...
[2026-09-13 11:31:38.479] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:38.479] [INFO] edge(0) name:9999
[2026-09-13 11:31:38.479] [INFO] node(0) name:8888
[2026-09-13 11:31:38.479] [INFO] node(1) name:9999
[2026-09-13 11:31:38.479] [INFO] Start control:
[2026-09-13 11:31:38.479] [INFO] Use normal control
[2026-09-13 11:31:38.691] [INFO] Control end.
[2026-09-13 11:31:38.692] [INFO] Pub slam key info: {"type":"task_result","sec":1789270298,"nanosec":691604932,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:38.695] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:38.695] [INFO] To get pl status.
[2026-09-13 11:31:38.696] [INFO] Received pl status: {"type":"pos_info","sec":1789270298,"nanosec":696016664,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09935631878441518,"y":0.007459372277808812,"z":0.019901072885137983,"q_w":0.9919104265568833,"q_x":-0.01607074353022733,"q_y":0.1257738592821991,"q_z":0.006031020758482299},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:38.696] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09935631878441518,"y":0.007459372277808812,"z":0.019901072885137983,"q_w":0.9919104265568832,"q_x":-0.01607074353022733,"q_y":0.1257738592821991,"q_z":0.006031020758482299},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:38.696] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:38.696] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:38.696] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:38.696] [INFO] edge(0) name:9999
[2026-09-13 11:31:38.696] [INFO] node(0) name:8888
[2026-09-13 11:31:38.696] [INFO] node(1) name:9999
[2026-09-13 11:31:38.696] [INFO] Thread is still running...
[2026-09-13 11:31:38.719] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:38.719] [INFO] edge(0) name:9999
[2026-09-13 11:31:38.719] [INFO] node(0) name:8888
[2026-09-13 11:31:38.719] [INFO] node(1) name:9999
[2026-09-13 11:31:38.719] [INFO] Start control:
[2026-09-13 11:31:38.719] [INFO] Use normal control
[2026-09-13 11:31:38.922] [INFO] Control end.
[2026-09-13 11:31:38.922] [INFO] Pub slam key info: {"type":"task_result","sec":1789270298,"nanosec":922477604,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:38.927] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:38.927] [INFO] To get pl status.
[2026-09-13 11:31:38.927] [INFO] Received pl status: {"type":"pos_info","sec":1789270298,"nanosec":927575151,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.1002117479473307,"y":0.005559017746334337,"z":0.020334319651776372,"q_w":0.9919195433757506,"q_x":-0.016110527944075605,"q_y":0.1257160046954558,"q_z":0.005617519204929818},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:38.927] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.1002117479473307,"y":0.005559017746334337,"z":0.020334319651776372,"q_w":0.9919195433757506,"q_x":-0.016110527944075605,"q_y":0.1257160046954558,"q_z":0.005617519204929818},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:38.927] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:38.927] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:38.927] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:38.927] [INFO] edge(0) name:9999
[2026-09-13 11:31:38.927] [INFO] node(0) name:8888
[2026-09-13 11:31:38.927] [INFO] node(1) name:9999
[2026-09-13 11:31:38.928] [INFO] Thread is still running...
[2026-09-13 11:31:38.947] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:38.947] [INFO] edge(0) name:9999
[2026-09-13 11:31:38.947] [INFO] node(0) name:8888
[2026-09-13 11:31:38.947] [INFO] node(1) name:9999
[2026-09-13 11:31:38.947] [INFO] Start control:
[2026-09-13 11:31:38.947] [INFO] Use normal control
[2026-09-13 11:31:39.251] [INFO] Control end.
[2026-09-13 11:31:39.251] [INFO] Pub slam key info: {"type":"task_result","sec":1789270299,"nanosec":251319641,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:39.253] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:39.253] [INFO] To get pl status.
[2026-09-13 11:31:39.253] [INFO] Received pl status: {"type":"pos_info","sec":1789270299,"nanosec":253830957,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09898504845851903,"y":0.004568749174013355,"z":0.022143427966675226,"q_w":0.9918666803774672,"q_x":-0.01671035729777923,"q_y":0.12604145413062567,"q_z":0.005899504775950731},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:39.253] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09898504845851903,"y":0.004568749174013355,"z":0.022143427966675223,"q_w":0.9918666803774672,"q_x":-0.01671035729777923,"q_y":0.12604145413062567,"q_z":0.005899504775950731},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:39.254] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:39.254] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:39.254] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:39.254] [INFO] edge(0) name:9999
[2026-09-13 11:31:39.254] [INFO] node(0) name:8888
[2026-09-13 11:31:39.254] [INFO] node(1) name:9999
[2026-09-13 11:31:39.254] [INFO] Thread is still running...
[2026-09-13 11:31:39.279] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:39.279] [INFO] edge(0) name:9999
[2026-09-13 11:31:39.279] [INFO] node(0) name:8888
[2026-09-13 11:31:39.279] [INFO] node(1) name:9999
[2026-09-13 11:31:39.279] [INFO] Start control:
[2026-09-13 11:31:39.279] [INFO] Use normal control
[2026-09-13 11:31:39.492] [INFO] Control end.
[2026-09-13 11:31:39.492] [INFO] Pub slam key info: {"type":"task_result","sec":1789270299,"nanosec":492283851,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:39.496] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:39.496] [INFO] To get pl status.
[2026-09-13 11:31:39.496] [INFO] Received pl status: {"type":"pos_info","sec":1789270299,"nanosec":496381204,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08949967598143176,"y":0.006678241468694726,"z":0.02057973710494169,"q_w":0.9919802640532008,"q_x":-0.01600546934300883,"q_y":0.1251316139388911,"q_z":0.007814081718313845},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:39.496] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08949967598143176,"y":0.006678241468694726,"z":0.02057973710494169,"q_w":0.9919802640532008,"q_x":-0.01600546934300883,"q_y":0.1251316139388911,"q_z":0.007814081718313845},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:39.496] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:39.496] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:39.496] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:39.496] [INFO] edge(0) name:9999
[2026-09-13 11:31:39.496] [INFO] node(0) name:8888
[2026-09-13 11:31:39.496] [INFO] node(1) name:9999
[2026-09-13 11:31:39.496] [INFO] Thread is still running...
[2026-09-13 11:31:39.519] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:39.519] [INFO] edge(0) name:9999
[2026-09-13 11:31:39.519] [INFO] node(0) name:8888
[2026-09-13 11:31:39.520] [INFO] node(1) name:9999
[2026-09-13 11:31:39.520] [INFO] Start control:
[2026-09-13 11:31:39.520] [INFO] Use normal control
[2026-09-13 11:31:39.723] [INFO] Control end.
[2026-09-13 11:31:39.723] [INFO] Pub slam key info: {"type":"task_result","sec":1789270299,"nanosec":723721949,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:39.726] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:39.726] [INFO] To get pl status.
[2026-09-13 11:31:39.726] [INFO] Received pl status: {"type":"pos_info","sec":1789270299,"nanosec":726491962,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09897118119909913,"y":0.006019230091685764,"z":0.021353352315891534,"q_w":0.9919357002482972,"q_x":-0.015578114168534768,"q_y":0.1256383995241085,"q_z":0.0059901166009338315},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:39.726] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09897118119909912,"y":0.006019230091685764,"z":0.021353352315891538,"q_w":0.9919357002482972,"q_x":-0.015578114168534768,"q_y":0.1256383995241085,"q_z":0.0059901166009338315},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:39.726] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:39.726] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:39.726] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:39.726] [INFO] edge(0) name:9999
[2026-09-13 11:31:39.726] [INFO] node(0) name:8888
[2026-09-13 11:31:39.726] [INFO] node(1) name:9999
[2026-09-13 11:31:39.726] [INFO] Thread is still running...
[2026-09-13 11:31:39.755] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:39.755] [INFO] edge(0) name:9999
[2026-09-13 11:31:39.755] [INFO] node(0) name:8888
[2026-09-13 11:31:39.755] [INFO] node(1) name:9999
[2026-09-13 11:31:39.755] [INFO] Start control:
[2026-09-13 11:31:39.755] [INFO] Use normal control
[2026-09-13 11:31:40.065] [INFO] Control end.
[2026-09-13 11:31:40.065] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":65816782,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:40.069] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:40.069] [INFO] To get pl status.
[2026-09-13 11:31:40.069] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":69569772,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09259751815678405,"y":0.006014984767426105,"z":0.02172755259883039,"q_w":0.9922918547746881,"q_x":-0.014872819767306034,"q_y":0.12297486242105829,"q_z":0.0035857206389282217},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:40.069] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09259751815678403,"y":0.006014984767426105,"z":0.02172755259883039,"q_w":0.992291854774688,"q_x":-0.014872819767306034,"q_y":0.12297486242105828,"q_z":0.0035857206389282217},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:40.069] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:40.069] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:40.069] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:40.069] [INFO] edge(0) name:9999
[2026-09-13 11:31:40.069] [INFO] node(0) name:8888
[2026-09-13 11:31:40.069] [INFO] node(1) name:9999
[2026-09-13 11:31:40.069] [INFO] Thread is still running...
[2026-09-13 11:31:40.087] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:40.087] [INFO] edge(0) name:9999
[2026-09-13 11:31:40.087] [INFO] node(0) name:8888
[2026-09-13 11:31:40.087] [INFO] node(1) name:9999
[2026-09-13 11:31:40.087] [INFO] Start control:
[2026-09-13 11:31:40.087] [INFO] Use normal control
[2026-09-13 11:31:40.293] [INFO] Control end.
[2026-09-13 11:31:40.293] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":293516803,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:40.296] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:40.296] [INFO] To get pl status.
[2026-09-13 11:31:40.296] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":296346946,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0914908008438337,"y":0.005517508696518784,"z":0.02060952805798213,"q_w":0.9920520667660495,"q_x":-0.015628204244181796,"q_y":0.12458577854989275,"q_z":0.008175563615353511},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:40.296] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0914908008438337,"y":0.005517508696518784,"z":0.02060952805798213,"q_w":0.9920520667660496,"q_x":-0.015628204244181796,"q_y":0.12458577854989276,"q_z":0.008175563615353511},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:40.296] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:40.296] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:40.296] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:40.296] [INFO] edge(0) name:9999
[2026-09-13 11:31:40.296] [INFO] node(0) name:8888
[2026-09-13 11:31:40.296] [INFO] node(1) name:9999
[2026-09-13 11:31:40.296] [INFO] Thread is still running...
[2026-09-13 11:31:40.314] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:40.314] [INFO] edge(0) name:9999
[2026-09-13 11:31:40.314] [INFO] node(0) name:8888
[2026-09-13 11:31:40.314] [INFO] node(1) name:9999
[2026-09-13 11:31:40.314] [INFO] Start control:
[2026-09-13 11:31:40.314] [INFO] Use normal control
[2026-09-13 11:31:40.521] [INFO] Control end.
[2026-09-13 11:31:40.521] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":521342268,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:40.527] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:40.527] [INFO] To get pl status.
[2026-09-13 11:31:40.527] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":527492363,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09508828168605621,"y":0.005400981909033255,"z":0.019257940513839788,"q_w":0.9920254567335977,"q_x":-0.015875314795794224,"q_y":0.1248552017995369,"q_z":0.006681777924196267},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:40.527] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0950882816860562,"y":0.005400981909033255,"z":0.019257940513839788,"q_w":0.9920254567335977,"q_x":-0.015875314795794224,"q_y":0.1248552017995369,"q_z":0.006681777924196267},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:40.527] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:40.527] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:40.527] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:40.527] [INFO] edge(0) name:9999
[2026-09-13 11:31:40.527] [INFO] node(0) name:8888
[2026-09-13 11:31:40.527] [INFO] node(1) name:9999
[2026-09-13 11:31:40.527] [INFO] Thread is still running...
[2026-09-13 11:31:40.551] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:40.551] [INFO] edge(0) name:9999
[2026-09-13 11:31:40.551] [INFO] node(0) name:8888
[2026-09-13 11:31:40.551] [INFO] node(1) name:9999
[2026-09-13 11:31:40.551] [INFO] Start control:
[2026-09-13 11:31:40.551] [INFO] Use normal control
[2026-09-13 11:31:40.757] [INFO] Control end.
[2026-09-13 11:31:40.757] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":757765622,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:40.761] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:40.761] [INFO] To get pl status.
[2026-09-13 11:31:40.761] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":761212745,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0975896417656588,"y":0.006724306733832821,"z":0.01850406929496913,"q_w":0.9920292187226151,"q_x":-0.015334679175561937,"q_y":0.12491659699697592,"q_z":0.006222588679634198},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:40.761] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0975896417656588,"y":0.006724306733832821,"z":0.01850406929496913,"q_w":0.9920292187226152,"q_x":-0.015334679175561935,"q_y":0.12491659699697592,"q_z":0.006222588679634198},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:40.761] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:40.762] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:40.762] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:40.762] [INFO] edge(0) name:9999
[2026-09-13 11:31:40.762] [INFO] node(0) name:8888
[2026-09-13 11:31:40.762] [INFO] node(1) name:9999
[2026-09-13 11:31:40.762] [INFO] Thread is still running...
[2026-09-13 11:31:40.788] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:40.788] [INFO] edge(0) name:9999
[2026-09-13 11:31:40.788] [INFO] node(0) name:8888
[2026-09-13 11:31:40.788] [INFO] node(1) name:9999
[2026-09-13 11:31:40.788] [INFO] Start control:
[2026-09-13 11:31:40.788] [INFO] Use normal control
[2026-09-13 11:31:40.997] [INFO] Control end.
[2026-09-13 11:31:40.998] [INFO] Pub slam key info: {"type":"task_result","sec":1789270300,"nanosec":998008015,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:40.999] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:40.999] [INFO] To get pl status.
[2026-09-13 11:31:40.999] [INFO] Received pl status: {"type":"pos_info","sec":1789270300,"nanosec":999787499,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09849511423399676,"y":0.005499031730535569,"z":0.02053284288649717,"q_w":0.9920317587840357,"q_x":-0.016315130377946494,"q_y":0.12475735665097923,"q_z":0.006512146041332098},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:40.999] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09849511423399676,"y":0.005499031730535569,"z":0.02053284288649717,"q_w":0.9920317587840356,"q_x":-0.016315130377946494,"q_y":0.12475735665097924,"q_z":0.006512146041332098},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:41.000] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:41.000] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:41.000] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:41.000] [INFO] edge(0) name:9999
[2026-09-13 11:31:41.000] [INFO] node(0) name:8888
[2026-09-13 11:31:41.000] [INFO] node(1) name:9999
[2026-09-13 11:31:41.000] [INFO] Thread is still running...
[2026-09-13 11:31:41.022] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:41.022] [INFO] edge(0) name:9999
[2026-09-13 11:31:41.022] [INFO] node(0) name:8888
[2026-09-13 11:31:41.022] [INFO] node(1) name:9999
[2026-09-13 11:31:41.022] [INFO] Start control:
[2026-09-13 11:31:41.022] [INFO] Use normal control
[2026-09-13 11:31:41.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6132 cpuTemp:62.9605 cpuMemory:33.4138 cpuFrequency:1510.4
[2026-09-13 11:31:41.231] [INFO] Control end.
[2026-09-13 11:31:41.231] [INFO] Pub slam key info: {"type":"task_result","sec":1789270301,"nanosec":231451109,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:41.246] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:41.247] [INFO] To get pl status.
[2026-09-13 11:31:41.247] [INFO] Received pl status: {"type":"pos_info","sec":1789270301,"nanosec":247018639,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10045956957273704,"y":0.005089316568217177,"z":0.02209784096161751,"q_w":0.9919531881578476,"q_x":-0.015543776004477284,"q_y":0.12548727468696724,"q_z":0.006340932316456798},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:41.247] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10045956957273704,"y":0.005089316568217177,"z":0.02209784096161751,"q_w":0.9919531881578476,"q_x":-0.015543776004477284,"q_y":0.12548727468696724,"q_z":0.006340932316456798},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:41.247] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:41.247] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:41.247] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:41.247] [INFO] edge(0) name:9999
[2026-09-13 11:31:41.247] [INFO] node(0) name:8888
[2026-09-13 11:31:41.247] [INFO] node(1) name:9999
[2026-09-13 11:31:41.247] [INFO] Thread is still running...
[2026-09-13 11:31:41.259] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:41.259] [INFO] edge(0) name:9999
[2026-09-13 11:31:41.259] [INFO] node(0) name:8888
[2026-09-13 11:31:41.259] [INFO] node(1) name:9999
[2026-09-13 11:31:41.259] [INFO] Start control:
[2026-09-13 11:31:41.259] [INFO] Use normal control
[2026-09-13 11:31:41.563] [INFO] Control end.
[2026-09-13 11:31:41.563] [INFO] Pub slam key info: {"type":"task_result","sec":1789270301,"nanosec":563102872,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:41.583] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:41.584] [INFO] To get pl status.
[2026-09-13 11:31:41.584] [INFO] Received pl status: {"type":"pos_info","sec":1789270301,"nanosec":584110873,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09109960760886111,"y":0.00623017645093573,"z":0.02361937037970317,"q_w":0.9920468305705735,"q_x":-0.014791872705457182,"q_y":0.12480978001722925,"q_z":0.00684143762643115},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:41.584] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09109960760886111,"y":0.00623017645093573,"z":0.02361937037970317,"q_w":0.9920468305705736,"q_x":-0.014791872705457182,"q_y":0.12480978001722924,"q_z":0.00684143762643115},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:41.584] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:41.584] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:41.584] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:41.584] [INFO] edge(0) name:9999
[2026-09-13 11:31:41.584] [INFO] node(0) name:8888
[2026-09-13 11:31:41.584] [INFO] node(1) name:9999
[2026-09-13 11:31:41.585] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:41.585] [INFO] edge(0) name:9999
[2026-09-13 11:31:41.585] [INFO] node(0) name:8888
[2026-09-13 11:31:41.585] [INFO] node(1) name:9999
[2026-09-13 11:31:41.585] [INFO] Start control:
[2026-09-13 11:31:41.585] [INFO] Use normal control
[2026-09-13 11:31:41.796] [INFO] Control end.
[2026-09-13 11:31:41.797] [INFO] Pub slam key info: {"type":"task_result","sec":1789270301,"nanosec":797013341,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:41.797] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:41.797] [INFO] To get pl status.
[2026-09-13 11:31:41.797] [INFO] Received pl status: {"type":"pos_info","sec":1789270301,"nanosec":797704469,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08902541298816684,"y":0.005912265417346627,"z":0.020480871994267503,"q_w":0.9920715527914684,"q_x":-0.01583968623021723,"q_y":0.12435099277763487,"q_z":0.008942543109754932},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:41.797] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08902541298816684,"y":0.005912265417346627,"z":0.020480871994267503,"q_w":0.9920715527914684,"q_x":-0.01583968623021723,"q_y":0.12435099277763488,"q_z":0.008942543109754932},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:41.797] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:41.798] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:41.798] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:41.798] [INFO] edge(0) name:9999
[2026-09-13 11:31:41.798] [INFO] node(0) name:8888
[2026-09-13 11:31:41.798] [INFO] node(1) name:9999
[2026-09-13 11:31:41.798] [INFO] Thread is still running...
[2026-09-13 11:31:41.828] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:41.828] [INFO] edge(0) name:9999
[2026-09-13 11:31:41.828] [INFO] node(0) name:8888
[2026-09-13 11:31:41.828] [INFO] node(1) name:9999
[2026-09-13 11:31:41.828] [INFO] Start control:
[2026-09-13 11:31:41.828] [INFO] Use normal control
[2026-09-13 11:31:42.032] [INFO] Control end.
[2026-09-13 11:31:42.032] [INFO] Pub slam key info: {"type":"task_result","sec":1789270302,"nanosec":32611803,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:42.034] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:42.034] [INFO] To get pl status.
[2026-09-13 11:31:42.034] [INFO] Received pl status: {"type":"pos_info","sec":1789270302,"nanosec":34672256,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09679309524423188,"y":0.0052704573521684525,"z":0.019649883877491104,"q_w":0.9920766221323677,"q_x":-0.016058082287818083,"q_y":0.12435237105837624,"q_z":0.007912118795172958},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:42.034] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09679309524423188,"y":0.0052704573521684525,"z":0.019649883877491104,"q_w":0.9920766221323676,"q_x":-0.016058082287818083,"q_y":0.12435237105837624,"q_z":0.007912118795172958},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:42.034] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:42.035] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:42.035] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:42.035] [INFO] edge(0) name:9999
[2026-09-13 11:31:42.035] [INFO] node(0) name:8888
[2026-09-13 11:31:42.035] [INFO] node(1) name:9999
[2026-09-13 11:31:42.035] [INFO] Thread is still running...
[2026-09-13 11:31:42.053] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:42.053] [INFO] edge(0) name:9999
[2026-09-13 11:31:42.053] [INFO] node(0) name:8888
[2026-09-13 11:31:42.053] [INFO] node(1) name:9999
[2026-09-13 11:31:42.053] [INFO] Start control:
[2026-09-13 11:31:42.053] [INFO] Use normal control
[2026-09-13 11:31:42.257] [INFO] Control end.
[2026-09-13 11:31:42.257] [INFO] Pub slam key info: {"type":"task_result","sec":1789270302,"nanosec":257561204,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:42.260] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:42.260] [INFO] To get pl status.
[2026-09-13 11:31:42.260] [INFO] Received pl status: {"type":"pos_info","sec":1789270302,"nanosec":260951110,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10016977720981426,"y":0.004610705303340883,"z":0.01944656149450993,"q_w":0.9920523042699588,"q_x":-0.01600518436830204,"q_y":0.12460268643561435,"q_z":0.007087326649013312},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:42.261] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10016977720981426,"y":0.004610705303340883,"z":0.01944656149450993,"q_w":0.9920523042699588,"q_x":-0.01600518436830204,"q_y":0.12460268643561435,"q_z":0.007087326649013312},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:42.261] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:42.261] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:42.261] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:42.261] [INFO] edge(0) name:9999
[2026-09-13 11:31:42.261] [INFO] node(0) name:8888
[2026-09-13 11:31:42.261] [INFO] node(1) name:9999
[2026-09-13 11:31:42.261] [INFO] Thread is still running...
[2026-09-13 11:31:42.285] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:42.285] [INFO] edge(0) name:9999
[2026-09-13 11:31:42.285] [INFO] node(0) name:8888
[2026-09-13 11:31:42.285] [INFO] node(1) name:9999
[2026-09-13 11:31:42.285] [INFO] Start control:
[2026-09-13 11:31:42.285] [INFO] Use normal control
[2026-09-13 11:31:42.488] [INFO] Control end.
[2026-09-13 11:31:42.488] [INFO] Pub slam key info: {"type":"task_result","sec":1789270302,"nanosec":488506998,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:42.493] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:42.493] [INFO] To get pl status.
[2026-09-13 11:31:42.493] [INFO] Received pl status: {"type":"pos_info","sec":1789270302,"nanosec":493123985,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09870916692184661,"y":0.004407515928560524,"z":0.02149209730598942,"q_w":0.992049268332168,"q_x":-0.016178915240393988,"q_y":0.12458755861615262,"q_z":0.007377814128936376},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:42.493] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0987091669218466,"y":0.004407515928560524,"z":0.02149209730598942,"q_w":0.992049268332168,"q_x":-0.016178915240393988,"q_y":0.12458755861615262,"q_z":0.007377814128936376},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:42.493] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:42.493] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:42.493] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:42.493] [INFO] edge(0) name:9999
[2026-09-13 11:31:42.493] [INFO] node(0) name:8888
[2026-09-13 11:31:42.493] [INFO] node(1) name:9999
[2026-09-13 11:31:42.493] [INFO] Thread is still running...
[2026-09-13 11:31:42.522] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:42.522] [INFO] edge(0) name:9999
[2026-09-13 11:31:42.522] [INFO] node(0) name:8888
[2026-09-13 11:31:42.522] [INFO] node(1) name:9999
[2026-09-13 11:31:42.522] [INFO] Start control:
[2026-09-13 11:31:42.522] [INFO] Use normal control
[2026-09-13 11:31:42.925] [INFO] Control end.
[2026-09-13 11:31:42.925] [INFO] Pub slam key info: {"type":"task_result","sec":1789270302,"nanosec":925621530,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:42.928] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:42.928] [INFO] To get pl status.
[2026-09-13 11:31:42.928] [INFO] Received pl status: {"type":"pos_info","sec":1789270302,"nanosec":928855911,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08519608037346747,"y":0.003747355715266356,"z":0.021097829931102097,"q_w":0.9926295841813753,"q_x":-0.014577054629824976,"q_y":0.12009228884591461,"q_z":0.007201405833506395},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:42.928] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08519608037346747,"y":0.003747355715266356,"z":0.021097829931102097,"q_w":0.9926295841813751,"q_x":-0.014577054629824976,"q_y":0.1200922888459146,"q_z":0.007201405833506395},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:42.929] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:42.929] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:42.929] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:42.929] [INFO] edge(0) name:9999
[2026-09-13 11:31:42.929] [INFO] node(0) name:8888
[2026-09-13 11:31:42.929] [INFO] node(1) name:9999
[2026-09-13 11:31:42.929] [INFO] Thread is still running...
[2026-09-13 11:31:42.955] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:42.955] [INFO] edge(0) name:9999
[2026-09-13 11:31:42.955] [INFO] node(0) name:8888
[2026-09-13 11:31:42.955] [INFO] node(1) name:9999
[2026-09-13 11:31:42.955] [INFO] Start control:
[2026-09-13 11:31:42.955] [INFO] Use normal control
[2026-09-13 11:31:43.162] [INFO] Control end.
[2026-09-13 11:31:43.163] [INFO] Pub slam key info: {"type":"task_result","sec":1789270303,"nanosec":162847215,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:43.167] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:43.167] [INFO] To get pl status.
[2026-09-13 11:31:43.167] [INFO] Received pl status: {"type":"pos_info","sec":1789270303,"nanosec":167450921,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.07352504457324151,"y":0.006922565427882459,"z":0.026411400385761404,"q_w":0.9917562489854439,"q_x":-0.015284220063696723,"q_y":0.12664759512744256,"q_z":0.012096357460075775},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:43.167] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.07352504457324151,"y":0.006922565427882459,"z":0.026411400385761404,"q_w":0.991756248985444,"q_x":-0.015284220063696724,"q_y":0.12664759512744256,"q_z":0.012096357460075776},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:43.167] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:43.167] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:43.167] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:43.167] [INFO] edge(0) name:9999
[2026-09-13 11:31:43.167] [INFO] node(0) name:8888
[2026-09-13 11:31:43.167] [INFO] node(1) name:9999
[2026-09-13 11:31:43.167] [INFO] Thread is still running...
[2026-09-13 11:31:43.183] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:43.183] [INFO] edge(0) name:9999
[2026-09-13 11:31:43.183] [INFO] node(0) name:8888
[2026-09-13 11:31:43.183] [INFO] node(1) name:9999
[2026-09-13 11:31:43.183] [INFO] Start control:
[2026-09-13 11:31:43.183] [INFO] Use normal control
[2026-09-13 11:31:43.387] [INFO] Control end.
[2026-09-13 11:31:43.387] [INFO] Pub slam key info: {"type":"task_result","sec":1789270303,"nanosec":387147697,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:43.390] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:43.390] [INFO] To get pl status.
[2026-09-13 11:31:43.390] [INFO] Received pl status: {"type":"pos_info","sec":1789270303,"nanosec":390060787,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08498170315176004,"y":0.0040599772555192605,"z":0.02340646012447882,"q_w":0.9917591816987887,"q_x":-0.015645448317246322,"q_y":0.12671604074989404,"q_z":0.010582555446233237},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:43.390] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08498170315176004,"y":0.0040599772555192605,"z":0.02340646012447882,"q_w":0.9917591816987888,"q_x":-0.015645448317246322,"q_y":0.12671604074989404,"q_z":0.010582555446233237},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:43.390] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:43.390] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:43.390] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:43.390] [INFO] edge(0) name:9999
[2026-09-13 11:31:43.390] [INFO] node(0) name:8888
[2026-09-13 11:31:43.390] [INFO] node(1) name:9999
[2026-09-13 11:31:43.390] [INFO] Thread is still running...
[2026-09-13 11:31:43.407] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:43.407] [INFO] edge(0) name:9999
[2026-09-13 11:31:43.407] [INFO] node(0) name:8888
[2026-09-13 11:31:43.407] [INFO] node(1) name:9999
[2026-09-13 11:31:43.407] [INFO] Start control:
[2026-09-13 11:31:43.407] [INFO] Use normal control
[2026-09-13 11:31:43.622] [INFO] Control end.
[2026-09-13 11:31:43.622] [INFO] Pub slam key info: {"type":"task_result","sec":1789270303,"nanosec":622447397,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:43.628] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:43.628] [INFO] To get pl status.
[2026-09-13 11:31:43.628] [INFO] Received pl status: {"type":"pos_info","sec":1789270303,"nanosec":628092995,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09017715526926277,"y":0.0038032870207812632,"z":0.01939882216073689,"q_w":0.9918543446205588,"q_x":-0.015762642221277958,"q_y":0.12610620748184406,"q_z":0.00858618670144586},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:43.628] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09017715526926276,"y":0.0038032870207812632,"z":0.01939882216073689,"q_w":0.9918543446205588,"q_x":-0.015762642221277958,"q_y":0.12610620748184406,"q_z":0.00858618670144586},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:43.628] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:43.628] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:43.628] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:43.628] [INFO] edge(0) name:9999
[2026-09-13 11:31:43.628] [INFO] node(0) name:8888
[2026-09-13 11:31:43.628] [INFO] node(1) name:9999
[2026-09-13 11:31:43.628] [INFO] Thread is still running...
[2026-09-13 11:31:43.643] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:43.643] [INFO] edge(0) name:9999
[2026-09-13 11:31:43.643] [INFO] node(0) name:8888
[2026-09-13 11:31:43.643] [INFO] node(1) name:9999
[2026-09-13 11:31:43.643] [INFO] Start control:
[2026-09-13 11:31:43.643] [INFO] Use normal control
[2026-09-13 11:31:43.847] [INFO] Control end.
[2026-09-13 11:31:43.847] [INFO] Pub slam key info: {"type":"task_result","sec":1789270303,"nanosec":847699240,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:43.853] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:43.853] [INFO] To get pl status.
[2026-09-13 11:31:43.853] [INFO] Received pl status: {"type":"pos_info","sec":1789270303,"nanosec":853064124,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09478774664238773,"y":0.004230971706934736,"z":0.021280946760690363,"q_w":0.9918188958825351,"q_x":-0.01574003013536858,"q_y":0.1263845123374684,"q_z":0.008630426577357573},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:43.853] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09478774664238772,"y":0.004230971706934736,"z":0.021280946760690363,"q_w":0.9918188958825352,"q_x":-0.01574003013536858,"q_y":0.1263845123374684,"q_z":0.008630426577357573},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:43.853] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:43.853] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:43.853] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:43.853] [INFO] edge(0) name:9999
[2026-09-13 11:31:43.853] [INFO] node(0) name:8888
[2026-09-13 11:31:43.853] [INFO] node(1) name:9999
[2026-09-13 11:31:43.853] [INFO] Thread is still running...
[2026-09-13 11:31:43.879] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:43.879] [INFO] edge(0) name:9999
[2026-09-13 11:31:43.879] [INFO] node(0) name:8888
[2026-09-13 11:31:43.879] [INFO] node(1) name:9999
[2026-09-13 11:31:43.879] [INFO] Start control:
[2026-09-13 11:31:43.879] [INFO] Use normal control
[2026-09-13 11:31:44.082] [INFO] Control end.
[2026-09-13 11:31:44.082] [INFO] Pub slam key info: {"type":"task_result","sec":1789270304,"nanosec":82747891,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:44.087] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:44.087] [INFO] To get pl status.
[2026-09-13 11:31:44.087] [INFO] Received pl status: {"type":"pos_info","sec":1789270304,"nanosec":87071012,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09255516117140358,"y":0.003341177343830195,"z":0.022286629978970584,"q_w":0.9918180582448253,"q_x":-0.016458896817873214,"q_y":0.126381736982885,"q_z":0.007328070154689487},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.087] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09255516117140358,"y":0.003341177343830195,"z":0.022286629978970584,"q_w":0.9918180582448252,"q_x":-0.016458896817873214,"q_y":0.126381736982885,"q_z":0.007328070154689487},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.087] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:44.087] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:44.087] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:44.087] [INFO] edge(0) name:9999
[2026-09-13 11:31:44.087] [INFO] node(0) name:8888
[2026-09-13 11:31:44.088] [INFO] node(1) name:9999
[2026-09-13 11:31:44.088] [INFO] Thread is still running...
[2026-09-13 11:31:44.103] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:44.103] [INFO] edge(0) name:9999
[2026-09-13 11:31:44.103] [INFO] node(0) name:8888
[2026-09-13 11:31:44.103] [INFO] node(1) name:9999
[2026-09-13 11:31:44.103] [INFO] Start control:
[2026-09-13 11:31:44.103] [INFO] Use normal control
[2026-09-13 11:31:44.178] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.7596 cpuTemp:63.0387 cpuMemory:33.4563 cpuFrequency:1510.4
[2026-09-13 11:31:44.306] [INFO] Control end.
[2026-09-13 11:31:44.306] [INFO] Pub slam key info: {"type":"task_result","sec":1789270304,"nanosec":306570470,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:44.311] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:44.311] [INFO] To get pl status.
[2026-09-13 11:31:44.311] [INFO] Received pl status: {"type":"pos_info","sec":1789270304,"nanosec":311649585,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09748652324192028,"y":0.0047895989643400244,"z":0.02062725052421431,"q_w":0.9918136397134385,"q_x":-0.0162401606610669,"q_y":0.12646385325379397,"q_z":0.0069896409269354755},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.311] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09748652324192028,"y":0.004789598964340024,"z":0.02062725052421431,"q_w":0.9918136397134384,"q_x":-0.0162401606610669,"q_y":0.12646385325379397,"q_z":0.0069896409269354755},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.313] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:44.313] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:44.313] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:44.313] [INFO] edge(0) name:9999
[2026-09-13 11:31:44.313] [INFO] node(0) name:8888
[2026-09-13 11:31:44.313] [INFO] node(1) name:9999
[2026-09-13 11:31:44.313] [INFO] Thread is still running...
[2026-09-13 11:31:44.327] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:44.327] [INFO] edge(0) name:9999
[2026-09-13 11:31:44.327] [INFO] node(0) name:8888
[2026-09-13 11:31:44.327] [INFO] node(1) name:9999
[2026-09-13 11:31:44.327] [INFO] Start control:
[2026-09-13 11:31:44.327] [INFO] Use normal control
[2026-09-13 11:31:44.531] [INFO] Control end.
[2026-09-13 11:31:44.531] [INFO] Pub slam key info: {"type":"task_result","sec":1789270304,"nanosec":531801384,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:44.534] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:44.534] [INFO] To get pl status.
[2026-09-13 11:31:44.534] [INFO] Received pl status: {"type":"pos_info","sec":1789270304,"nanosec":534655432,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09540995275329706,"y":0.004642559398499591,"z":0.020180124078747596,"q_w":0.9917902210816462,"q_x":-0.016459179939945143,"q_y":0.12662080225032027,"q_z":0.006958821740021356},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.534] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09540995275329706,"y":0.004642559398499591,"z":0.020180124078747596,"q_w":0.9917902210816462,"q_x":-0.016459179939945143,"q_y":0.12662080225032027,"q_z":0.006958821740021356},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.535] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:44.535] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:44.535] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:44.535] [INFO] edge(0) name:9999
[2026-09-13 11:31:44.535] [INFO] node(0) name:8888
[2026-09-13 11:31:44.535] [INFO] node(1) name:9999
[2026-09-13 11:31:44.535] [INFO] Thread is still running...
[2026-09-13 11:31:44.559] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:44.559] [INFO] edge(0) name:9999
[2026-09-13 11:31:44.559] [INFO] node(0) name:8888
[2026-09-13 11:31:44.559] [INFO] node(1) name:9999
[2026-09-13 11:31:44.559] [INFO] Start control:
[2026-09-13 11:31:44.559] [INFO] Use normal control
[2026-09-13 11:31:44.762] [INFO] Control end.
[2026-09-13 11:31:44.762] [INFO] Pub slam key info: {"type":"task_result","sec":1789270304,"nanosec":762384222,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:44.763] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:44.763] [INFO] To get pl status.
[2026-09-13 11:31:44.763] [INFO] Received pl status: {"type":"pos_info","sec":1789270304,"nanosec":763512420,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09679914614704616,"y":0.0034619434743715797,"z":0.021811647965963635,"q_w":0.9918547434183757,"q_x":-0.016000940330191185,"q_y":0.12616987793367582,"q_z":0.0070213794384836785},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.763] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09679914614704616,"y":0.0034619434743715797,"z":0.021811647965963635,"q_w":0.9918547434183757,"q_x":-0.016000940330191185,"q_y":0.12616987793367582,"q_z":0.0070213794384836785},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.763] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:44.763] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:44.763] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:44.763] [INFO] edge(0) name:9999
[2026-09-13 11:31:44.763] [INFO] node(0) name:8888
[2026-09-13 11:31:44.763] [INFO] node(1) name:9999
[2026-09-13 11:31:44.763] [INFO] Thread is still running...
[2026-09-13 11:31:44.783] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:44.783] [INFO] edge(0) name:9999
[2026-09-13 11:31:44.783] [INFO] node(0) name:8888
[2026-09-13 11:31:44.783] [INFO] node(1) name:9999
[2026-09-13 11:31:44.783] [INFO] Start control:
[2026-09-13 11:31:44.783] [INFO] Use normal control
[2026-09-13 11:31:44.987] [INFO] Control end.
[2026-09-13 11:31:44.987] [INFO] Pub slam key info: {"type":"task_result","sec":1789270304,"nanosec":987638337,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:44.989] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:44.990] [INFO] To get pl status.
[2026-09-13 11:31:44.990] [INFO] Received pl status: {"type":"pos_info","sec":1789270304,"nanosec":990031281,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09331597441037774,"y":0.0054735766771370495,"z":0.021011561855591367,"q_w":0.9918486721645481,"q_x":-0.01633116057897044,"q_y":0.12619919263086887,"q_z":0.006577879512712952},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.990] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09331597441037774,"y":0.0054735766771370495,"z":0.021011561855591367,"q_w":0.991848672164548,"q_x":-0.01633116057897044,"q_y":0.12619919263086887,"q_z":0.006577879512712952},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:44.990] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:44.990] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:44.990] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:44.990] [INFO] edge(0) name:9999
[2026-09-13 11:31:44.990] [INFO] node(0) name:8888
[2026-09-13 11:31:44.990] [INFO] node(1) name:9999
[2026-09-13 11:31:44.990] [INFO] Thread is still running...
[2026-09-13 11:31:45.008] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:45.008] [INFO] edge(0) name:9999
[2026-09-13 11:31:45.008] [INFO] node(0) name:8888
[2026-09-13 11:31:45.008] [INFO] node(1) name:9999
[2026-09-13 11:31:45.008] [INFO] Start control:
[2026-09-13 11:31:45.008] [INFO] Use normal control
[2026-09-13 11:31:45.215] [INFO] Control end.
[2026-09-13 11:31:45.215] [INFO] Pub slam key info: {"type":"task_result","sec":1789270305,"nanosec":215261075,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:45.218] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:45.218] [INFO] To get pl status.
[2026-09-13 11:31:45.218] [INFO] Received pl status: {"type":"pos_info","sec":1789270305,"nanosec":218346843,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09765978928138025,"y":0.003818292692811104,"z":0.020943980470941786,"q_w":0.9917792988005261,"q_x":-0.01664734329909904,"q_y":0.12666946545842026,"q_z":0.007178784876090254},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:45.218] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09765978928138024,"y":0.003818292692811104,"z":0.020943980470941783,"q_w":0.991779298800526,"q_x":-0.01664734329909904,"q_y":0.12666946545842026,"q_z":0.007178784876090254},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:45.218] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:45.219] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:45.219] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:45.219] [INFO] edge(0) name:9999
[2026-09-13 11:31:45.219] [INFO] node(0) name:8888
[2026-09-13 11:31:45.219] [INFO] node(1) name:9999
[2026-09-13 11:31:45.219] [INFO] Thread is still running...
[2026-09-13 11:31:45.243] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:45.243] [INFO] edge(0) name:9999
[2026-09-13 11:31:45.243] [INFO] node(0) name:8888
[2026-09-13 11:31:45.243] [INFO] node(1) name:9999
[2026-09-13 11:31:45.243] [INFO] Start control:
[2026-09-13 11:31:45.243] [INFO] Use normal control
[2026-09-13 11:31:45.446] [INFO] Control end.
[2026-09-13 11:31:45.446] [INFO] Pub slam key info: {"type":"task_result","sec":1789270305,"nanosec":446545504,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:45.453] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:45.453] [INFO] To get pl status.
[2026-09-13 11:31:45.453] [INFO] Received pl status: {"type":"pos_info","sec":1789270305,"nanosec":453291650,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09843317316801378,"y":0.004355257027717097,"z":0.02286813987504207,"q_w":0.9917955508799241,"q_x":-0.016581106181040507,"q_y":0.12654045614477322,"q_z":0.007359696411795205},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:45.453] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09843317316801378,"y":0.004355257027717097,"z":0.02286813987504207,"q_w":0.991795550879924,"q_x":-0.016581106181040507,"q_y":0.12654045614477322,"q_z":0.007359696411795205},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:45.453] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:45.453] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:45.453] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:45.453] [INFO] edge(0) name:9999
[2026-09-13 11:31:45.453] [INFO] node(0) name:8888
[2026-09-13 11:31:45.453] [INFO] node(1) name:9999
[2026-09-13 11:31:45.453] [INFO] Thread is still running...
[2026-09-13 11:31:45.467] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:45.467] [INFO] edge(0) name:9999
[2026-09-13 11:31:45.467] [INFO] node(0) name:8888
[2026-09-13 11:31:45.467] [INFO] node(1) name:9999
[2026-09-13 11:31:45.467] [INFO] Start control:
[2026-09-13 11:31:45.467] [INFO] Use normal control
[2026-09-13 11:31:45.672] [INFO] Control end.
[2026-09-13 11:31:45.672] [INFO] Pub slam key info: {"type":"task_result","sec":1789270305,"nanosec":672259026,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:45.674] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:45.674] [INFO] To get pl status.
[2026-09-13 11:31:45.674] [INFO] Received pl status: {"type":"pos_info","sec":1789270305,"nanosec":674563040,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09890179492478789,"y":0.0073677079231544125,"z":0.02258187818815218,"q_w":0.9918304490714778,"q_x":-0.016206228575590512,"q_y":0.12635994572573672,"q_z":0.006548478160257707},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:45.674] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09890179492478789,"y":0.0073677079231544125,"z":0.02258187818815218,"q_w":0.9918304490714778,"q_x":-0.016206228575590512,"q_y":0.12635994572573672,"q_z":0.006548478160257707},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:45.674] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:45.674] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:45.674] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:45.674] [INFO] edge(0) name:9999
[2026-09-13 11:31:45.674] [INFO] node(0) name:8888
[2026-09-13 11:31:45.674] [INFO] node(1) name:9999
[2026-09-13 11:31:45.674] [INFO] Thread is still running...
[2026-09-13 11:31:45.695] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:45.695] [INFO] edge(0) name:9999
[2026-09-13 11:31:45.695] [INFO] node(0) name:8888
[2026-09-13 11:31:45.703] [INFO] node(1) name:9999
[2026-09-13 11:31:45.703] [INFO] Start control:
[2026-09-13 11:31:45.703] [INFO] Use normal control
[2026-09-13 11:31:46.117] [INFO] Control end.
[2026-09-13 11:31:46.123] [INFO] Pub slam key info: {"type":"task_result","sec":1789270306,"nanosec":117931414,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:46.124] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:46.124] [INFO] To get pl status.
[2026-09-13 11:31:46.124] [INFO] Received pl status: {"type":"pos_info","sec":1789270306,"nanosec":124374158,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08204260846705969,"y":0.005087912535477657,"z":0.019908285526944108,"q_w":0.9924185450865772,"q_x":-0.016161668093238622,"q_y":0.121680676310637,"q_z":0.006168051983508168},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:46.124] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08204260846705969,"y":0.005087912535477657,"z":0.019908285526944108,"q_w":0.9924185450865772,"q_x":-0.016161668093238622,"q_y":0.121680676310637,"q_z":0.006168051983508168},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:46.124] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:46.124] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:46.124] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:46.124] [INFO] edge(0) name:9999
[2026-09-13 11:31:46.124] [INFO] node(0) name:8888
[2026-09-13 11:31:46.124] [INFO] node(1) name:9999
[2026-09-13 11:31:46.124] [INFO] Thread is still running...
[2026-09-13 11:31:46.159] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:46.159] [INFO] edge(0) name:9999
[2026-09-13 11:31:46.167] [INFO] node(0) name:8888
[2026-09-13 11:31:46.167] [INFO] node(1) name:9999
[2026-09-13 11:31:46.167] [INFO] Start control:
[2026-09-13 11:31:46.167] [INFO] Use normal control
[2026-09-13 11:31:46.372] [INFO] Control end.
[2026-09-13 11:31:46.372] [INFO] Pub slam key info: {"type":"task_result","sec":1789270306,"nanosec":372707383,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:46.379] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:46.379] [INFO] To get pl status.
[2026-09-13 11:31:46.379] [INFO] Received pl status: {"type":"pos_info","sec":1789270306,"nanosec":379661824,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.07148495053365905,"y":0.007894170256057834,"z":0.019842071565780526,"q_w":0.9916982669389676,"q_x":-0.015217633751877848,"q_y":0.1271688848156505,"q_z":0.01144751973075972},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:46.379] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.07148495053365905,"y":0.007894170256057834,"z":0.01984207156578053,"q_w":0.9916982669389676,"q_x":-0.015217633751877848,"q_y":0.1271688848156505,"q_z":0.01144751973075972},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:46.379] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:46.379] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:46.379] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:46.379] [INFO] edge(0) name:9999
[2026-09-13 11:31:46.379] [INFO] node(0) name:8888
[2026-09-13 11:31:46.379] [INFO] node(1) name:9999
[2026-09-13 11:31:46.379] [INFO] Thread is still running...
[2026-09-13 11:31:46.395] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:46.395] [INFO] edge(0) name:9999
[2026-09-13 11:31:46.395] [INFO] node(0) name:8888
[2026-09-13 11:31:46.395] [INFO] node(1) name:9999
[2026-09-13 11:31:46.395] [INFO] Start control:
[2026-09-13 11:31:46.395] [INFO] Use normal control
[2026-09-13 11:31:46.605] [INFO] Control end.
[2026-09-13 11:31:46.605] [INFO] Pub slam key info: {"type":"task_result","sec":1789270306,"nanosec":605648540,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:46.608] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:46.608] [INFO] To get pl status.
[2026-09-13 11:31:46.608] [INFO] Received pl status: {"type":"pos_info","sec":1789270306,"nanosec":608194961,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0813520289296022,"y":0.0029336822354232603,"z":0.02040486784771173,"q_w":0.9917852321139292,"q_x":-0.015852708398420397,"q_y":0.12648971909112283,"q_z":0.010540206895650911},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:46.608] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0813520289296022,"y":0.0029336822354232603,"z":0.02040486784771173,"q_w":0.9917852321139292,"q_x":-0.015852708398420397,"q_y":0.12648971909112283,"q_z":0.010540206895650913},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:46.608] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:46.608] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:46.608] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:46.608] [INFO] edge(0) name:9999
[2026-09-13 11:31:46.608] [INFO] node(0) name:8888
[2026-09-13 11:31:46.608] [INFO] node(1) name:9999
[2026-09-13 11:31:46.608] [INFO] Thread is still running...
[2026-09-13 11:31:46.626] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:46.626] [INFO] edge(0) name:9999
[2026-09-13 11:31:46.626] [INFO] node(0) name:8888
[2026-09-13 11:31:46.626] [INFO] node(1) name:9999
[2026-09-13 11:31:46.626] [INFO] Start control:
[2026-09-13 11:31:46.626] [INFO] Use normal control
[2026-09-13 11:31:46.830] [INFO] Control end.
[2026-09-13 11:31:46.830] [INFO] Pub slam key info: {"type":"task_result","sec":1789270306,"nanosec":830899358,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:46.834] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:46.834] [INFO] To get pl status.
[2026-09-13 11:31:46.834] [INFO] Received pl status: {"type":"pos_info","sec":1789270306,"nanosec":834220558,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0870563331429322,"y":0.006988222937399082,"z":0.020620528740970385,"q_w":0.9917406996932912,"q_x":-0.01599094521645247,"q_y":0.12693092650113078,"q_z":0.009122178495870386},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:46.834] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0870563331429322,"y":0.006988222937399082,"z":0.020620528740970385,"q_w":0.9917406996932912,"q_x":-0.01599094521645247,"q_y":0.12693092650113078,"q_z":0.009122178495870386},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:46.834] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:46.834] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:46.834] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:46.834] [INFO] edge(0) name:9999
[2026-09-13 11:31:46.834] [INFO] node(0) name:8888
[2026-09-13 11:31:46.834] [INFO] node(1) name:9999
[2026-09-13 11:31:46.834] [INFO] Thread is still running...
[2026-09-13 11:31:46.856] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:46.856] [INFO] edge(0) name:9999
[2026-09-13 11:31:46.856] [INFO] node(0) name:8888
[2026-09-13 11:31:46.856] [INFO] node(1) name:9999
[2026-09-13 11:31:46.856] [INFO] Start control:
[2026-09-13 11:31:46.856] [INFO] Use normal control
[2026-09-13 11:31:47.063] [INFO] Control end.
[2026-09-13 11:31:47.064] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":63951623,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:47.071] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:47.071] [INFO] To get pl status.
[2026-09-13 11:31:47.071] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":71559814,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09084189468041262,"y":0.005954197107777245,"z":0.021260594775769314,"q_w":0.9917465625739454,"q_x":-0.01609949471815517,"q_y":0.12693813594896358,"q_z":0.008140733037386296},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:47.071] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09084189468041262,"y":0.005954197107777245,"z":0.02126059477576931,"q_w":0.9917465625739454,"q_x":-0.01609949471815517,"q_y":0.12693813594896358,"q_z":0.008140733037386296},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:47.071] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:47.071] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:47.071] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:47.071] [INFO] edge(0) name:9999
[2026-09-13 11:31:47.071] [INFO] node(0) name:8888
[2026-09-13 11:31:47.071] [INFO] node(1) name:9999
[2026-09-13 11:31:47.072] [INFO] Thread is still running...
[2026-09-13 11:31:47.097] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:47.097] [INFO] edge(0) name:9999
[2026-09-13 11:31:47.097] [INFO] node(0) name:8888
[2026-09-13 11:31:47.097] [INFO] node(1) name:9999
[2026-09-13 11:31:47.097] [INFO] Start control:
[2026-09-13 11:31:47.097] [INFO] Use normal control
[2026-09-13 11:31:47.184] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.6208 cpuTemp:63.0385 cpuMemory:33.3946 cpuFrequency:1510.4
[2026-09-13 11:31:47.308] [INFO] Control end.
[2026-09-13 11:31:47.308] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":308219271,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:47.319] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:47.319] [INFO] To get pl status.
[2026-09-13 11:31:47.319] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":319461600,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09557522727703374,"y":0.006815044277167779,"z":0.020303297649729476,"q_w":0.9917497078973906,"q_x":-0.01594380052743371,"q_y":0.12697213373841681,"q_z":0.007509285192062104},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:47.319] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09557522727703374,"y":0.006815044277167779,"z":0.020303297649729476,"q_w":0.9917497078973906,"q_x":-0.01594380052743371,"q_y":0.1269721337384168,"q_z":0.007509285192062104},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:47.320] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:47.320] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:47.320] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:47.320] [INFO] edge(0) name:9999
[2026-09-13 11:31:47.320] [INFO] node(0) name:8888
[2026-09-13 11:31:47.320] [INFO] node(1) name:9999
[2026-09-13 11:31:47.320] [INFO] Thread is still running...
[2026-09-13 11:31:47.339] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:47.339] [INFO] edge(0) name:9999
[2026-09-13 11:31:47.339] [INFO] node(0) name:8888
[2026-09-13 11:31:47.339] [INFO] node(1) name:9999
[2026-09-13 11:31:47.339] [INFO] Start control:
[2026-09-13 11:31:47.339] [INFO] Use normal control
[2026-09-13 11:31:47.543] [INFO] Control end.
[2026-09-13 11:31:47.543] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":543084173,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:47.547] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:47.548] [INFO] To get pl status.
[2026-09-13 11:31:47.548] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":548028658,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09527496085899628,"y":0.004577037527490751,"z":0.02216505498877723,"q_w":0.991687633521634,"q_x":-0.016113010090593155,"q_y":0.1274571906931907,"q_z":0.007118494692093858},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:47.548] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09527496085899628,"y":0.004577037527490751,"z":0.02216505498877723,"q_w":0.991687633521634,"q_x":-0.016113010090593155,"q_y":0.1274571906931907,"q_z":0.007118494692093858},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:47.548] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:47.549] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:47.549] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:47.549] [INFO] edge(0) name:9999
[2026-09-13 11:31:47.549] [INFO] node(0) name:8888
[2026-09-13 11:31:47.549] [INFO] node(1) name:9999
[2026-09-13 11:31:47.549] [INFO] Thread is still running...
[2026-09-13 11:31:47.567] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:47.567] [INFO] edge(0) name:9999
[2026-09-13 11:31:47.567] [INFO] node(0) name:8888
[2026-09-13 11:31:47.567] [INFO] node(1) name:9999
[2026-09-13 11:31:47.567] [INFO] Start control:
[2026-09-13 11:31:47.567] [INFO] Use normal control
[2026-09-13 11:31:47.770] [INFO] Control end.
[2026-09-13 11:31:47.770] [INFO] Pub slam key info: {"type":"task_result","sec":1789270307,"nanosec":770194958,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:47.773] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:47.773] [INFO] To get pl status.
[2026-09-13 11:31:47.773] [INFO] Received pl status: {"type":"pos_info","sec":1789270307,"nanosec":773830056,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09635452725532531,"y":0.00628032360180659,"z":0.019190042793268733,"q_w":0.991732275238122,"q_x":-0.016486694773307217,"q_y":0.12706210529180811,"q_z":0.007106654999594055},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:47.773] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09635452725532533,"y":0.00628032360180659,"z":0.019190042793268733,"q_w":0.991732275238122,"q_x":-0.016486694773307217,"q_y":0.12706210529180811,"q_z":0.007106654999594055},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:47.774] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:47.774] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:47.774] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:47.774] [INFO] edge(0) name:9999
[2026-09-13 11:31:47.774] [INFO] node(0) name:8888
[2026-09-13 11:31:47.774] [INFO] node(1) name:9999
[2026-09-13 11:31:47.774] [INFO] Thread is still running...
[2026-09-13 11:31:47.797] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:47.797] [INFO] edge(0) name:9999
[2026-09-13 11:31:47.797] [INFO] node(0) name:8888
[2026-09-13 11:31:47.797] [INFO] node(1) name:9999
[2026-09-13 11:31:47.797] [INFO] Start control:
[2026-09-13 11:31:47.797] [INFO] Use normal control
[2026-09-13 11:31:48.006] [INFO] Control end.
[2026-09-13 11:31:48.006] [INFO] Pub slam key info: {"type":"task_result","sec":1789270308,"nanosec":6283932,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:48.009] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:48.009] [INFO] To get pl status.
[2026-09-13 11:31:48.009] [INFO] Received pl status: {"type":"pos_info","sec":1789270308,"nanosec":9594507,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0993404385867858,"y":0.007233482304921108,"z":0.023244881395969638,"q_w":0.9917812810424946,"q_x":-0.015332279030690144,"q_y":0.12683474239203832,"q_z":0.006910854923874771},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.009] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0993404385867858,"y":0.007233482304921108,"z":0.02324488139596964,"q_w":0.9917812810424946,"q_x":-0.015332279030690144,"q_y":0.12683474239203832,"q_z":0.006910854923874771},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.009] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:48.009] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:48.009] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.009] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.009] [INFO] node(0) name:8888
[2026-09-13 11:31:48.009] [INFO] node(1) name:9999
[2026-09-13 11:31:48.009] [INFO] Thread is still running...
[2026-09-13 11:31:48.026] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.026] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.026] [INFO] node(0) name:8888
[2026-09-13 11:31:48.026] [INFO] node(1) name:9999
[2026-09-13 11:31:48.026] [INFO] Start control:
[2026-09-13 11:31:48.026] [INFO] Use normal control
[2026-09-13 11:31:48.230] [INFO] Control end.
[2026-09-13 11:31:48.230] [INFO] Pub slam key info: {"type":"task_result","sec":1789270308,"nanosec":230843368,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:48.232] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:48.232] [INFO] To get pl status.
[2026-09-13 11:31:48.232] [INFO] Received pl status: {"type":"pos_info","sec":1789270308,"nanosec":232481598,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09882894488687594,"y":0.004593202261333307,"z":0.023711634141065724,"q_w":0.9918150320762862,"q_x":-0.015414647315835651,"q_y":0.12649237509960246,"q_z":0.00806286780900716},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.232] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09882894488687594,"y":0.004593202261333307,"z":0.023711634141065724,"q_w":0.9918150320762862,"q_x":-0.015414647315835653,"q_y":0.12649237509960246,"q_z":0.00806286780900716},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.232] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:48.232] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:48.232] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.232] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.232] [INFO] node(0) name:8888
[2026-09-13 11:31:48.232] [INFO] node(1) name:9999
[2026-09-13 11:31:48.232] [INFO] Thread is still running...
[2026-09-13 11:31:48.259] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.259] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.259] [INFO] node(0) name:8888
[2026-09-13 11:31:48.259] [INFO] node(1) name:9999
[2026-09-13 11:31:48.259] [INFO] Start control:
[2026-09-13 11:31:48.259] [INFO] Use normal control
[2026-09-13 11:31:48.463] [INFO] Control end.
[2026-09-13 11:31:48.463] [INFO] Pub slam key info: {"type":"task_result","sec":1789270308,"nanosec":463388255,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:48.476] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:48.476] [INFO] To get pl status.
[2026-09-13 11:31:48.476] [INFO] Received pl status: {"type":"pos_info","sec":1789270308,"nanosec":476101289,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10013958730141927,"y":0.0052562193539528014,"z":0.022354802954027,"q_w":0.9917046823545118,"q_x":-0.016079000184704054,"q_y":0.12729481551235192,"q_z":0.007701862948250535},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.476] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.10013958730141928,"y":0.0052562193539528014,"z":0.022354802954027,"q_w":0.9917046823545118,"q_x":-0.016079000184704054,"q_y":0.12729481551235192,"q_z":0.007701862948250535},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.476] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:48.476] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:48.476] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.476] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.476] [INFO] node(0) name:8888
[2026-09-13 11:31:48.476] [INFO] node(1) name:9999
[2026-09-13 11:31:48.476] [INFO] Thread is still running...
[2026-09-13 11:31:48.499] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.499] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.499] [INFO] node(0) name:8888
[2026-09-13 11:31:48.499] [INFO] node(1) name:9999
[2026-09-13 11:31:48.499] [INFO] Start control:
[2026-09-13 11:31:48.499] [INFO] Use normal control
[2026-09-13 11:31:48.703] [INFO] Control end.
[2026-09-13 11:31:48.703] [INFO] Pub slam key info: {"type":"task_result","sec":1789270308,"nanosec":703712059,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:48.704] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:48.704] [INFO] To get pl status.
[2026-09-13 11:31:48.704] [INFO] Received pl status: {"type":"pos_info","sec":1789270308,"nanosec":704749918,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09690627909235502,"y":0.005009481119914512,"z":0.02436782195439356,"q_w":0.9917717824247806,"q_x":-0.01557326197315622,"q_y":0.12679592584878732,"q_z":0.008306520669828621},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.704] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09690627909235502,"y":0.005009481119914512,"z":0.02436782195439356,"q_w":0.9917717824247806,"q_x":-0.01557326197315622,"q_y":0.12679592584878732,"q_z":0.008306520669828621},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.704] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:48.705] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:48.705] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.705] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.705] [INFO] node(0) name:8888
[2026-09-13 11:31:48.705] [INFO] node(1) name:9999
[2026-09-13 11:31:48.705] [INFO] Thread is still running...
[2026-09-13 11:31:48.730] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.730] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.731] [INFO] node(0) name:8888
[2026-09-13 11:31:48.731] [INFO] node(1) name:9999
[2026-09-13 11:31:48.731] [INFO] Start control:
[2026-09-13 11:31:48.731] [INFO] Use normal control
[2026-09-13 11:31:48.934] [INFO] Control end.
[2026-09-13 11:31:48.934] [INFO] Pub slam key info: {"type":"task_result","sec":1789270308,"nanosec":934263376,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:48.937] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:48.937] [INFO] To get pl status.
[2026-09-13 11:31:48.938] [INFO] Received pl status: {"type":"pos_info","sec":1789270308,"nanosec":937990733,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09778344447979175,"y":0.0034821240018423592,"z":0.02306057103901438,"q_w":0.9917490789339909,"q_x":-0.016215466188941055,"q_y":0.12697015227207906,"q_z":0.007028763892820008},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.938] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09778344447979176,"y":0.0034821240018423592,"z":0.02306057103901438,"q_w":0.9917490789339908,"q_x":-0.016215466188941055,"q_y":0.12697015227207906,"q_z":0.007028763892820008},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:48.938] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:48.938] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:48.938] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.938] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.938] [INFO] node(0) name:8888
[2026-09-13 11:31:48.938] [INFO] node(1) name:9999
[2026-09-13 11:31:48.938] [INFO] Thread is still running...
[2026-09-13 11:31:48.971] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:48.971] [INFO] edge(0) name:9999
[2026-09-13 11:31:48.971] [INFO] node(0) name:8888
[2026-09-13 11:31:48.971] [INFO] node(1) name:9999
[2026-09-13 11:31:48.971] [INFO] Start control:
[2026-09-13 11:31:48.971] [INFO] Use normal control
[2026-09-13 11:31:49.176] [INFO] Control end.
[2026-09-13 11:31:49.176] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":176683346,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:49.179] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:49.179] [INFO] To get pl status.
[2026-09-13 11:31:49.179] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":179811291,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0977614515221731,"y":0.0035612603201787114,"z":0.020243026567954753,"q_w":0.9917143224629206,"q_x":-0.016025579277739403,"q_y":0.1272512199120059,"q_z":0.007280828361495994},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:49.179] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0977614515221731,"y":0.0035612603201787114,"z":0.020243026567954753,"q_w":0.9917143224629206,"q_x":-0.016025579277739403,"q_y":0.1272512199120059,"q_z":0.007280828361495994},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:49.180] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:49.180] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:49.180] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:49.180] [INFO] edge(0) name:9999
[2026-09-13 11:31:49.180] [INFO] node(0) name:8888
[2026-09-13 11:31:49.180] [INFO] node(1) name:9999
[2026-09-13 11:31:49.180] [INFO] Thread is still running...
[2026-09-13 11:31:49.203] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:49.203] [INFO] edge(0) name:9999
[2026-09-13 11:31:49.203] [INFO] node(0) name:8888
[2026-09-13 11:31:49.203] [INFO] node(1) name:9999
[2026-09-13 11:31:49.203] [INFO] Start control:
[2026-09-13 11:31:49.203] [INFO] Use normal control
[2026-09-13 11:31:49.409] [INFO] Control end.
[2026-09-13 11:31:49.409] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":409687289,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:49.417] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:49.417] [INFO] To get pl status.
[2026-09-13 11:31:49.417] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":417513312,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09915495036392305,"y":0.005344056929680203,"z":0.020804375515214926,"q_w":0.9917300081321023,"q_x":-0.016068356539208593,"q_y":0.12713421653173515,"q_z":0.007091535467784493},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:49.417] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09915495036392304,"y":0.005344056929680203,"z":0.02080437551521493,"q_w":0.9917300081321024,"q_x":-0.016068356539208593,"q_y":0.12713421653173515,"q_z":0.007091535467784493},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:49.417] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:49.417] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:49.417] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:49.417] [INFO] edge(0) name:9999
[2026-09-13 11:31:49.417] [INFO] node(0) name:8888
[2026-09-13 11:31:49.417] [INFO] node(1) name:9999
[2026-09-13 11:31:49.417] [INFO] Thread is still running...
[2026-09-13 11:31:49.439] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:49.439] [INFO] edge(0) name:9999
[2026-09-13 11:31:49.439] [INFO] node(0) name:8888
[2026-09-13 11:31:49.439] [INFO] node(1) name:9999
[2026-09-13 11:31:49.439] [INFO] Start control:
[2026-09-13 11:31:49.439] [INFO] Use normal control
[2026-09-13 11:31:49.644] [INFO] Control end.
[2026-09-13 11:31:49.645] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":644978349,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:49.650] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:49.650] [INFO] To get pl status.
[2026-09-13 11:31:49.650] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":650302591,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09633939508716087,"y":0.004912433422745736,"z":0.022933317632970563,"q_w":0.9918072951249504,"q_x":-0.016127411819457132,"q_y":0.12653073606392215,"q_z":0.006940371463956485},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:49.650] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09633939508716088,"y":0.004912433422745736,"z":0.022933317632970563,"q_w":0.9918072951249504,"q_x":-0.016127411819457132,"q_y":0.12653073606392215,"q_z":0.006940371463956485},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:49.650] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:49.650] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:49.650] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:49.650] [INFO] edge(0) name:9999
[2026-09-13 11:31:49.650] [INFO] node(0) name:8888
[2026-09-13 11:31:49.650] [INFO] node(1) name:9999
[2026-09-13 11:31:49.650] [INFO] Thread is still running...
[2026-09-13 11:31:49.667] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:49.668] [INFO] edge(0) name:9999
[2026-09-13 11:31:49.668] [INFO] node(0) name:8888
[2026-09-13 11:31:49.668] [INFO] node(1) name:9999
[2026-09-13 11:31:49.668] [INFO] Start control:
[2026-09-13 11:31:49.668] [INFO] Use normal control
[2026-09-13 11:31:49.878] [INFO] Control end.
[2026-09-13 11:31:49.878] [INFO] Pub slam key info: {"type":"task_result","sec":1789270309,"nanosec":878699563,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:49.888] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:49.888] [INFO] To get pl status.
[2026-09-13 11:31:49.888] [INFO] Received pl status: {"type":"pos_info","sec":1789270309,"nanosec":888266476,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09743221295827183,"y":0.002499380338346262,"z":0.019594593129457178,"q_w":0.9917790377313253,"q_x":-0.016161495488156947,"q_y":0.1267200507627679,"q_z":0.0074279953550448075},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:49.888] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09743221295827184,"y":0.002499380338346262,"z":0.019594593129457175,"q_w":0.9917790377313253,"q_x":-0.016161495488156947,"q_y":0.1267200507627679,"q_z":0.007427995355044808},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:49.888] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:49.889] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:49.889] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:49.889] [INFO] edge(0) name:9999
[2026-09-13 11:31:49.889] [INFO] node(0) name:8888
[2026-09-13 11:31:49.889] [INFO] node(1) name:9999
[2026-09-13 11:31:49.889] [INFO] Thread is still running...
[2026-09-13 11:31:49.903] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:49.903] [INFO] edge(0) name:9999
[2026-09-13 11:31:49.903] [INFO] node(0) name:8888
[2026-09-13 11:31:49.903] [INFO] node(1) name:9999
[2026-09-13 11:31:49.903] [INFO] Start control:
[2026-09-13 11:31:49.903] [INFO] Use normal control
[2026-09-13 11:31:50.107] [INFO] Control end.
[2026-09-13 11:31:50.107] [INFO] Pub slam key info: {"type":"task_result","sec":1789270310,"nanosec":107024949,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:50.108] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:50.108] [INFO] To get pl status.
[2026-09-13 11:31:50.108] [INFO] Received pl status: {"type":"pos_info","sec":1789270310,"nanosec":108296768,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09875555022090114,"y":0.0070645369148657836,"z":0.021887790050792853,"q_w":0.9917684473944725,"q_x":-0.01604099127502848,"q_y":0.12682464107692654,"q_z":0.007317360684068875},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:50.108] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09875555022090114,"y":0.007064536914865784,"z":0.021887790050792853,"q_w":0.9917684473944725,"q_x":-0.01604099127502848,"q_y":0.12682464107692654,"q_z":0.007317360684068875},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:50.108] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:50.108] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:50.109] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:50.109] [INFO] edge(0) name:9999
[2026-09-13 11:31:50.109] [INFO] node(0) name:8888
[2026-09-13 11:31:50.109] [INFO] node(1) name:9999
[2026-09-13 11:31:50.109] [INFO] Thread is still running...
[2026-09-13 11:31:50.129] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:50.129] [INFO] edge(0) name:9999
[2026-09-13 11:31:50.129] [INFO] node(0) name:8888
[2026-09-13 11:31:50.129] [INFO] node(1) name:9999
[2026-09-13 11:31:50.129] [INFO] Start control:
[2026-09-13 11:31:50.129] [INFO] Use normal control
[2026-09-13 11:31:50.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.7517 cpuTemp:63.0857 cpuMemory:33.3702 cpuFrequency:1510.4
[2026-09-13 11:31:50.336] [INFO] Control end.
[2026-09-13 11:31:50.336] [INFO] Pub slam key info: {"type":"task_result","sec":1789270310,"nanosec":336536871,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:50.339] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:50.339] [INFO] To get pl status.
[2026-09-13 11:31:50.339] [INFO] Received pl status: {"type":"pos_info","sec":1789270310,"nanosec":339301700,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09701666046418124,"y":0.005859750344676205,"z":0.0208904852713791,"q_w":0.9918141528590722,"q_x":-0.016165490094358383,"q_y":0.12645773476941913,"q_z":0.007197529814977631},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:50.339] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09701666046418124,"y":0.005859750344676205,"z":0.0208904852713791,"q_w":0.9918141528590722,"q_x":-0.016165490094358383,"q_y":0.12645773476941913,"q_z":0.007197529814977631},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:50.339] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:50.339] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:50.339] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:50.339] [INFO] edge(0) name:9999
[2026-09-13 11:31:50.339] [INFO] node(0) name:8888
[2026-09-13 11:31:50.339] [INFO] node(1) name:9999
[2026-09-13 11:31:50.339] [INFO] Thread is still running...
[2026-09-13 11:31:50.367] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:50.367] [INFO] edge(0) name:9999
[2026-09-13 11:31:50.367] [INFO] node(0) name:8888
[2026-09-13 11:31:50.367] [INFO] node(1) name:9999
[2026-09-13 11:31:50.367] [INFO] Start control:
[2026-09-13 11:31:50.367] [INFO] Use normal control
[2026-09-13 11:31:50.570] [INFO] Control end.
[2026-09-13 11:31:50.570] [INFO] Pub slam key info: {"type":"task_result","sec":1789270310,"nanosec":570760471,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:50.575] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:50.575] [INFO] To get pl status.
[2026-09-13 11:31:50.575] [INFO] Received pl status: {"type":"pos_info","sec":1789270310,"nanosec":575365905,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09652856726206072,"y":0.003878482139962785,"z":0.022072289113309686,"q_w":0.9917938503665269,"q_x":-0.016316110032928034,"q_y":0.12661245604940669,"q_z":0.006930288714758445},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:50.575] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09652856726206072,"y":0.003878482139962785,"z":0.022072289113309686,"q_w":0.9917938503665268,"q_x":-0.016316110032928034,"q_y":0.12661245604940669,"q_z":0.006930288714758445},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:50.576] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:50.576] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:50.576] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:50.576] [INFO] edge(0) name:9999
[2026-09-13 11:31:50.576] [INFO] node(0) name:8888
[2026-09-13 11:31:50.576] [INFO] node(1) name:9999
[2026-09-13 11:31:50.576] [INFO] Thread is still running...
[2026-09-13 11:31:50.601] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:50.601] [INFO] edge(0) name:9999
[2026-09-13 11:31:50.601] [INFO] node(0) name:8888
[2026-09-13 11:31:50.601] [INFO] node(1) name:9999
[2026-09-13 11:31:50.601] [INFO] Start control:
[2026-09-13 11:31:50.601] [INFO] Use normal control
[2026-09-13 11:31:50.805] [INFO] Control end.
[2026-09-13 11:31:50.806] [INFO] Pub slam key info: {"type":"task_result","sec":1789270310,"nanosec":806016009,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:50.810] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:50.810] [INFO] To get pl status.
[2026-09-13 11:31:50.810] [INFO] Received pl status: {"type":"pos_info","sec":1789270310,"nanosec":810878060,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0994620142017533,"y":0.001837427535052687,"z":0.02124836015393195,"q_w":0.9917244017578013,"q_x":-0.016382952899997215,"q_y":0.12716849957708468,"q_z":0.006517862204806262},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:50.810] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0994620142017533,"y":0.001837427535052687,"z":0.02124836015393195,"q_w":0.9917244017578012,"q_x":-0.016382952899997215,"q_y":0.12716849957708468,"q_z":0.006517862204806262},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:50.811] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:50.811] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:50.811] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:50.811] [INFO] edge(0) name:9999
[2026-09-13 11:31:50.811] [INFO] node(0) name:8888
[2026-09-13 11:31:50.811] [INFO] node(1) name:9999
[2026-09-13 11:31:50.811] [INFO] Thread is still running...
[2026-09-13 11:31:50.827] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:50.827] [INFO] edge(0) name:9999
[2026-09-13 11:31:50.835] [INFO] node(0) name:8888
[2026-09-13 11:31:50.835] [INFO] node(1) name:9999
[2026-09-13 11:31:50.835] [INFO] Start control:
[2026-09-13 11:31:50.835] [INFO] Use normal control
[2026-09-13 11:31:51.148] [INFO] Control end.
[2026-09-13 11:31:51.148] [INFO] Pub slam key info: {"type":"task_result","sec":1789270311,"nanosec":148112731,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:51.153] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:51.153] [INFO] To get pl status.
[2026-09-13 11:31:51.153] [INFO] Received pl status: {"type":"pos_info","sec":1789270311,"nanosec":153838619,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09214276582949463,"y":0.0028205882678951064,"z":0.02144870929154885,"q_w":0.9920767868291535,"q_x":-0.015683822190845437,"q_y":0.12454232154286408,"q_z":0.005184293678264669},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:51.153] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09214276582949464,"y":0.0028205882678951064,"z":0.02144870929154885,"q_w":0.9920767868291536,"q_x":-0.015683822190845437,"q_y":0.12454232154286408,"q_z":0.005184293678264669},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:51.154] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:51.154] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:51.154] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:51.154] [INFO] edge(0) name:9999
[2026-09-13 11:31:51.154] [INFO] node(0) name:8888
[2026-09-13 11:31:51.154] [INFO] node(1) name:9999
[2026-09-13 11:31:51.154] [INFO] Thread is still running...
[2026-09-13 11:31:51.168] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:51.168] [INFO] edge(0) name:9999
[2026-09-13 11:31:51.168] [INFO] node(0) name:8888
[2026-09-13 11:31:51.168] [INFO] node(1) name:9999
[2026-09-13 11:31:51.168] [INFO] Start control:
[2026-09-13 11:31:51.168] [INFO] Use normal control
[2026-09-13 11:31:51.372] [INFO] Control end.
[2026-09-13 11:31:51.372] [INFO] Pub slam key info: {"type":"task_result","sec":1789270311,"nanosec":372432510,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:51.374] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:51.374] [INFO] To get pl status.
[2026-09-13 11:31:51.374] [INFO] Received pl status: {"type":"pos_info","sec":1789270311,"nanosec":374820142,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09052440027643281,"y":0.0033024601066560895,"z":0.021153542523268287,"q_w":0.9918060481089117,"q_x":-0.016952431660378315,"q_y":0.1263617322606484,"q_z":0.008129613488436084},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:51.374] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0905244002764328,"y":0.0033024601066560895,"z":0.021153542523268287,"q_w":0.9918060481089116,"q_x":-0.016952431660378315,"q_y":0.1263617322606484,"q_z":0.008129613488436084},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:51.375] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:51.375] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:51.375] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:51.375] [INFO] edge(0) name:9999
[2026-09-13 11:31:51.375] [INFO] node(0) name:8888
[2026-09-13 11:31:51.375] [INFO] node(1) name:9999
[2026-09-13 11:31:51.375] [INFO] Thread is still running...
[2026-09-13 11:31:51.392] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:51.392] [INFO] edge(0) name:9999
[2026-09-13 11:31:51.392] [INFO] node(0) name:8888
[2026-09-13 11:31:51.392] [INFO] node(1) name:9999
[2026-09-13 11:31:51.392] [INFO] Start control:
[2026-09-13 11:31:51.392] [INFO] Use normal control
[2026-09-13 11:31:51.598] [INFO] Control end.
[2026-09-13 11:31:51.598] [INFO] Pub slam key info: {"type":"task_result","sec":1789270311,"nanosec":598735332,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:51.600] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:51.600] [INFO] To get pl status.
[2026-09-13 11:31:51.600] [INFO] Received pl status: {"type":"pos_info","sec":1789270311,"nanosec":600768584,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09816357128285103,"y":0.005100886495791518,"z":0.02213441175694607,"q_w":0.9918903739055641,"q_x":-0.016663505450488246,"q_y":0.12580517357320023,"q_z":0.006990854153732489},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:51.600] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09816357128285104,"y":0.005100886495791518,"z":0.02213441175694607,"q_w":0.991890373905564,"q_x":-0.016663505450488246,"q_y":0.12580517357320023,"q_z":0.006990854153732489},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:51.601] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:51.601] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:51.601] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:51.601] [INFO] edge(0) name:9999
[2026-09-13 11:31:51.601] [INFO] node(0) name:8888
[2026-09-13 11:31:51.601] [INFO] node(1) name:9999
[2026-09-13 11:31:51.601] [INFO] Thread is still running...
[2026-09-13 11:31:51.627] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:51.627] [INFO] edge(0) name:9999
[2026-09-13 11:31:51.627] [INFO] node(0) name:8888
[2026-09-13 11:31:51.635] [INFO] node(1) name:9999
[2026-09-13 11:31:51.635] [INFO] Start control:
[2026-09-13 11:31:51.635] [INFO] Use normal control
[2026-09-13 11:31:51.853] [INFO] Control end.
[2026-09-13 11:31:51.853] [INFO] Pub slam key info: {"type":"task_result","sec":1789270311,"nanosec":853721804,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:51.856] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:51.856] [INFO] To get pl status.
[2026-09-13 11:31:51.856] [INFO] Received pl status: {"type":"pos_info","sec":1789270311,"nanosec":856246273,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09744497400877092,"y":0.004246738030681985,"z":0.023339577640166722,"q_w":0.9919981727653405,"q_x":-0.01634070774431077,"q_y":0.1250099559258814,"q_z":0.006716950204515981},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:51.856] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09744497400877092,"y":0.004246738030681985,"z":0.02333957764016672,"q_w":0.9919981727653404,"q_x":-0.01634070774431077,"q_y":0.1250099559258814,"q_z":0.006716950204515981},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:51.856] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:51.856] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:51.856] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:51.856] [INFO] edge(0) name:9999
[2026-09-13 11:31:51.856] [INFO] node(0) name:8888
[2026-09-13 11:31:51.856] [INFO] node(1) name:9999
[2026-09-13 11:31:51.856] [INFO] Thread is still running...
[2026-09-13 11:31:51.875] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:51.875] [INFO] edge(0) name:9999
[2026-09-13 11:31:51.875] [INFO] node(0) name:8888
[2026-09-13 11:31:51.875] [INFO] node(1) name:9999
[2026-09-13 11:31:51.875] [INFO] Start control:
[2026-09-13 11:31:51.875] [INFO] Use normal control
[2026-09-13 11:31:52.085] [INFO] Control end.
[2026-09-13 11:31:52.085] [INFO] Pub slam key info: {"type":"task_result","sec":1789270312,"nanosec":85683696,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:52.089] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:52.089] [INFO] To get pl status.
[2026-09-13 11:31:52.090] [INFO] Received pl status: {"type":"pos_info","sec":1789270312,"nanosec":89966912,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09962726702910547,"y":0.006735487944339936,"z":0.0208111895413196,"q_w":0.991888289228047,"q_x":-0.01676837008345871,"q_y":0.12581700105286978,"q_z":0.0068209752282886},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:52.090] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09962726702910547,"y":0.006735487944339936,"z":0.0208111895413196,"q_w":0.991888289228047,"q_x":-0.01676837008345871,"q_y":0.12581700105286978,"q_z":0.0068209752282886},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:52.090] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:52.090] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:52.090] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:52.090] [INFO] edge(0) name:9999
[2026-09-13 11:31:52.090] [INFO] node(0) name:8888
[2026-09-13 11:31:52.090] [INFO] node(1) name:9999
[2026-09-13 11:31:52.090] [INFO] Thread is still running...
[2026-09-13 11:31:52.123] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:52.123] [INFO] edge(0) name:9999
[2026-09-13 11:31:52.123] [INFO] node(0) name:8888
[2026-09-13 11:31:52.123] [INFO] node(1) name:9999
[2026-09-13 11:31:52.123] [INFO] Start control:
[2026-09-13 11:31:52.123] [INFO] Use normal control
[2026-09-13 11:31:52.430] [INFO] Control end.
[2026-09-13 11:31:52.430] [INFO] Pub slam key info: {"type":"task_result","sec":1789270312,"nanosec":430317143,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:31:52.439] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:52.439] [INFO] To get pl status.
[2026-09-13 11:31:52.439] [INFO] Received pl status: {"type":"pos_info","sec":1789270312,"nanosec":439457449,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09357997761407838,"y":0.0035358151523576515,"z":0.019388896147051835,"q_w":0.9923165534228784,"q_x":-0.01566250363643583,"q_y":0.12259657902043239,"q_z":0.005711619320751418},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:52.439] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09357997761407838,"y":0.0035358151523576515,"z":0.019388896147051835,"q_w":0.9923165534228784,"q_x":-0.01566250363643583,"q_y":0.1225965790204324,"q_z":0.005711619320751418},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:52.439] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:52.439] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:52.440] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:52.440] [INFO] edge(0) name:9999
[2026-09-13 11:31:52.440] [INFO] node(0) name:8888
[2026-09-13 11:31:52.440] [INFO] node(1) name:9999
[2026-09-13 11:31:52.440] [INFO] Thread is still running...
[2026-09-13 11:31:52.461] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:52.461] [INFO] edge(0) name:9999
[2026-09-13 11:31:52.461] [INFO] node(0) name:8888
[2026-09-13 11:31:52.461] [INFO] node(1) name:9999
[2026-09-13 11:31:52.461] [INFO] Start control:
[2026-09-13 11:31:52.461] [INFO] Use normal control
[2026-09-13 11:31:52.600] [INFO] Thread is still running...
[2026-09-13 11:31:52.664] [INFO] Control end.
[2026-09-13 11:31:52.665] [INFO] Pub slam key info: {"type":"task_result","sec":1789270312,"nanosec":664950868,"errorCode":14,"info":"Task interrupted.","data":{"targetNodeName":9999,"is_arrived":false}}
[2026-09-13 11:31:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7479 cpuTemp:63.1482 cpuMemory:33.3746 cpuFrequency:1510.4
[2026-09-13 11:31:53.618] [WARNING] Joystick operation intervention, stop navigation.
[2026-09-13 11:31:53.666] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:31:53.666] [INFO] To get pl status.
[2026-09-13 11:31:53.666] [INFO] Received pl status: {"type":"pos_info","sec":1789270313,"nanosec":666469867,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.029088312843661358,"y":0.007364266895240834,"z":0.010998217032615814,"q_w":0.9927111916137488,"q_x":-0.010741206206982159,"q_y":0.11909466667009301,"q_z":0.015019217848125956},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:53.666] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.02908831284366136,"y":0.007364266895240834,"z":0.010998217032615814,"q_w":0.9927111916137488,"q_x":-0.01074120620698216,"q_y":0.119094666670093,"q_z":0.015019217848125956},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:31:53.666] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:31:53.666] [INFO] Received graph response: slices size (1)
[2026-09-13 11:31:53.666] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:53.666] [INFO] edge(0) name:9999
[2026-09-13 11:31:53.666] [INFO] node(0) name:8888
[2026-09-13 11:31:53.666] [INFO] node(1) name:9999
[2026-09-13 11:31:53.670] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:31:53.670] [INFO] edge(0) name:9999
[2026-09-13 11:31:53.670] [INFO] node(0) name:8888
[2026-09-13 11:31:53.670] [INFO] node(1) name:9999
[2026-09-13 11:31:53.670] [INFO] Start control:
[2026-09-13 11:31:53.670] [INFO] Use normal control
[2026-09-13 11:31:53.720] [INFO] Thread is still running...
[2026-09-13 11:31:53.774] [INFO] Control end.
[2026-09-13 11:31:53.774] [INFO] Pub slam key info: {"type":"task_result","sec":1789270313,"nanosec":774423823,"errorCode":14,"info":"Task interrupted.","data":{"targetNodeName":9999,"is_arrived":false}}
[2026-09-13 11:31:54.733] [WARNING] Joystick operation intervention, stop navigation.
[2026-09-13 11:31:56.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.1643 cpuTemp:63.148 cpuMemory:33.3625 cpuFrequency:1510.4
[2026-09-13 11:31:59.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4602 cpuTemp:63.187 cpuMemory:33.3576 cpuFrequency:1510.4
[2026-09-13 11:32:02.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.0309 cpuTemp:63.2108 cpuMemory:33.3667 cpuFrequency:1510.4
[2026-09-13 11:32:03.171] [INFO] Received request. apiId:1202 fun:restore nav. parameter:{"data": {}}
[2026-09-13 11:32:03.172] [INFO] To planner request: {"data": {}}
[2026-09-13 11:32:03.172] [INFO] Received planner response (0):
[2026-09-13 11:32:05.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.274 cpuTemp:63.2028 cpuMemory:33.3685 cpuFrequency:1510.4
[2026-09-13 11:32:08.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.1921 cpuTemp:63.2417 cpuMemory:33.3686 cpuFrequency:1510.4
[2026-09-13 11:32:11.178] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.1292 cpuTemp:63.273 cpuMemory:33.3779 cpuFrequency:1510.4
[2026-09-13 11:32:14.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.054 cpuTemp:63.2887 cpuMemory:33.395 cpuFrequency:1510.4
[2026-09-13 11:32:17.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.7863 cpuTemp:63.367 cpuMemory:33.4735 cpuFrequency:1510.4
[2026-09-13 11:32:20.179] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7832 cpuTemp:63.32 cpuMemory:33.4757 cpuFrequency:1510.4
[2026-09-13 11:32:23.181] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.65 cpuTemp:63.3983 cpuMemory:33.3899 cpuFrequency:1510.4
[2026-09-13 11:32:26.180] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.7402 cpuTemp:63.3665 cpuMemory:33.4865 cpuFrequency:1510.4
[2026-09-13 11:32:29.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.2244 cpuTemp:63.3512 cpuMemory:33.4002 cpuFrequency:1510.4
[2026-09-13 11:32:32.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.8138 cpuTemp:63.359 cpuMemory:33.4056 cpuFrequency:1510.4
[2026-09-13 11:32:35.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.0912 cpuTemp:63.4058 cpuMemory:33.3911 cpuFrequency:1510.4
[2026-09-13 11:32:38.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.4462 cpuTemp:63.4995 cpuMemory:33.3871 cpuFrequency:1510.4
[2026-09-13 11:32:41.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.8131 cpuTemp:63.4527 cpuMemory:33.319 cpuFrequency:1510.4
[2026-09-13 11:32:44.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.4197 cpuTemp:63.5775 cpuMemory:33.3548 cpuFrequency:1510.4
[2026-09-13 11:32:47.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.5477 cpuTemp:63.4608 cpuMemory:33.3618 cpuFrequency:1510.4
[2026-09-13 11:32:50.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.838 cpuTemp:63.5387 cpuMemory:33.3613 cpuFrequency:1510.4
[2026-09-13 11:32:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.8455 cpuTemp:63.4603 cpuMemory:33.4507 cpuFrequency:1510.4
[2026-09-13 11:32:56.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4768 cpuTemp:63.523 cpuMemory:33.3699 cpuFrequency:1510.4
[2026-09-13 11:32:59.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.6956 cpuTemp:63.523 cpuMemory:33.4479 cpuFrequency:1510.4
[2026-09-13 11:33:02.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.8117 cpuTemp:63.5153 cpuMemory:33.4102 cpuFrequency:1510.4
[2026-09-13 11:33:05.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.4876 cpuTemp:63.5542 cpuMemory:33.451 cpuFrequency:1510.4
[2026-09-13 11:33:08.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.4526 cpuTemp:63.523 cpuMemory:33.3248 cpuFrequency:1510.4
[2026-09-13 11:33:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.4649 cpuTemp:63.6013 cpuMemory:33.3765 cpuFrequency:1510.4
[2026-09-13 11:33:14.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.7521 cpuTemp:63.531 cpuMemory:33.3839 cpuFrequency:1510.4
[2026-09-13 11:33:17.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0476 cpuTemp:63.5623 cpuMemory:33.3905 cpuFrequency:1510.4
[2026-09-13 11:33:20.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.0045 cpuTemp:63.5542 cpuMemory:33.3683 cpuFrequency:1510.4
[2026-09-13 11:33:23.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.4391 cpuTemp:63.5777 cpuMemory:33.381 cpuFrequency:1510.4
[2026-09-13 11:33:26.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.1132 cpuTemp:63.5697 cpuMemory:33.3806 cpuFrequency:1510.4
[2026-09-13 11:33:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.9616 cpuTemp:63.6245 cpuMemory:33.3725 cpuFrequency:1510.4
[2026-09-13 11:33:32.175] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.1652 cpuTemp:63.6012 cpuMemory:33.3793 cpuFrequency:1510.4
[2026-09-13 11:33:35.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.4576 cpuTemp:63.5778 cpuMemory:33.3156 cpuFrequency:1510.4
[2026-09-13 11:33:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.2276 cpuTemp:63.6012 cpuMemory:33.3729 cpuFrequency:1510.4
[2026-09-13 11:33:41.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.6264 cpuTemp:63.6403 cpuMemory:33.4618 cpuFrequency:1510.4
[2026-09-13 11:33:44.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.0456 cpuTemp:63.6328 cpuMemory:33.4504 cpuFrequency:1510.4
[2026-09-13 11:33:47.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.4337 cpuTemp:63.6638 cpuMemory:33.458 cpuFrequency:1510.4
[2026-09-13 11:33:50.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.2525 cpuTemp:63.6715 cpuMemory:33.4454 cpuFrequency:1510.4
[2026-09-13 11:33:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.8257 cpuTemp:63.7028 cpuMemory:33.3817 cpuFrequency:1510.4
[2026-09-13 11:33:56.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.19 cpuTemp:63.6323 cpuMemory:33.3837 cpuFrequency:1510.4
[2026-09-13 11:33:59.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.551 cpuTemp:63.8123 cpuMemory:33.3857 cpuFrequency:1510.4
[2026-09-13 11:34:02.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.469 cpuTemp:63.7653 cpuMemory:33.3208 cpuFrequency:1510.4
[2026-09-13 11:34:05.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.8361 cpuTemp:63.726 cpuMemory:33.3884 cpuFrequency:1510.4
[2026-09-13 11:34:08.178] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.8997 cpuTemp:63.6947 cpuMemory:33.3795 cpuFrequency:1510.4
[2026-09-13 11:34:11.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.5402 cpuTemp:63.687 cpuMemory:33.3708 cpuFrequency:1510.4
[2026-09-13 11:34:14.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.2939 cpuTemp:63.6793 cpuMemory:33.3882 cpuFrequency:1510.4
[2026-09-13 11:34:17.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7798 cpuTemp:63.7107 cpuMemory:33.3906 cpuFrequency:1510.4
[2026-09-13 11:34:20.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.7827 cpuTemp:63.7733 cpuMemory:33.371 cpuFrequency:1510.4
[2026-09-13 11:34:23.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.6616 cpuTemp:63.734 cpuMemory:33.4666 cpuFrequency:1510.4
[2026-09-13 11:34:26.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0575 cpuTemp:63.6795 cpuMemory:33.4849 cpuFrequency:1510.4
[2026-09-13 11:34:29.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.6992 cpuTemp:63.7572 cpuMemory:33.3154 cpuFrequency:1510.4
[2026-09-13 11:34:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.0007 cpuTemp:63.7495 cpuMemory:33.4533 cpuFrequency:1510.4
[2026-09-13 11:34:35.190] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.0257 cpuTemp:63.765 cpuMemory:33.3812 cpuFrequency:1510.4
[2026-09-13 11:34:38.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7734 cpuTemp:63.7733 cpuMemory:33.4506 cpuFrequency:1510.4
[2026-09-13 11:34:41.179] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3976 cpuTemp:63.7028 cpuMemory:33.5157 cpuFrequency:1510.4
[2026-09-13 11:34:44.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.5698 cpuTemp:63.6793 cpuMemory:33.3817 cpuFrequency:1510.4
[2026-09-13 11:34:47.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.9804 cpuTemp:63.781 cpuMemory:33.3981 cpuFrequency:1510.4
[2026-09-13 11:34:50.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.1334 cpuTemp:63.734 cpuMemory:33.3763 cpuFrequency:1510.4
[2026-09-13 11:34:53.179] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.3489 cpuTemp:63.7808 cpuMemory:33.3814 cpuFrequency:1510.4
[2026-09-13 11:34:56.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.9759 cpuTemp:63.7965 cpuMemory:33.3227 cpuFrequency:1510.4
[2026-09-13 11:34:59.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.4435 cpuTemp:63.7262 cpuMemory:33.4079 cpuFrequency:1510.4
[2026-09-13 11:35:02.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6211 cpuTemp:63.7887 cpuMemory:33.4073 cpuFrequency:1510.4
[2026-09-13 11:35:05.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3569 cpuTemp:63.7027 cpuMemory:33.5021 cpuFrequency:1510.4
[2026-09-13 11:35:08.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1145 cpuTemp:63.8277 cpuMemory:33.4307 cpuFrequency:1510.4
[2026-09-13 11:35:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0328 cpuTemp:63.7885 cpuMemory:33.5035 cpuFrequency:1510.4
[2026-09-13 11:35:14.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.4958 cpuTemp:63.812 cpuMemory:33.45 cpuFrequency:1510.4
[2026-09-13 11:35:17.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.0379 cpuTemp:63.8903 cpuMemory:33.5143 cpuFrequency:1510.4
[2026-09-13 11:35:20.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.584 cpuTemp:63.773 cpuMemory:33.4417 cpuFrequency:1510.4
[2026-09-13 11:35:23.181] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:82.951 cpuTemp:63.7105 cpuMemory:33.432 cpuFrequency:1510.4
[2026-09-13 11:35:26.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.2978 cpuTemp:63.7887 cpuMemory:33.4869 cpuFrequency:1510.4
[2026-09-13 11:35:29.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.1565 cpuTemp:63.7808 cpuMemory:33.3832 cpuFrequency:1510.4
[2026-09-13 11:35:32.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.5013 cpuTemp:63.8277 cpuMemory:33.3873 cpuFrequency:1510.4
[2026-09-13 11:35:35.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.6894 cpuTemp:63.742 cpuMemory:33.3769 cpuFrequency:1510.4
[2026-09-13 11:35:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5823 cpuTemp:63.8435 cpuMemory:33.3711 cpuFrequency:1510.4
[2026-09-13 11:35:41.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.7989 cpuTemp:63.7575 cpuMemory:33.3771 cpuFrequency:1510.4
[2026-09-13 11:35:44.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:81.8405 cpuTemp:63.8982 cpuMemory:33.3734 cpuFrequency:1510.4
[2026-09-13 11:35:47.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.9571 cpuTemp:63.7185 cpuMemory:33.3776 cpuFrequency:1510.4
[2026-09-13 11:35:50.181] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.3913 cpuTemp:63.7262 cpuMemory:33.3214 cpuFrequency:1510.4
[2026-09-13 11:35:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.0374 cpuTemp:63.7965 cpuMemory:33.4065 cpuFrequency:1510.4
[2026-09-13 11:35:56.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.1325 cpuTemp:63.7575 cpuMemory:33.4935 cpuFrequency:1510.4
[2026-09-13 11:35:59.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.9323 cpuTemp:63.8275 cpuMemory:33.4193 cpuFrequency:1510.4
[2026-09-13 11:36:02.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7933 cpuTemp:63.7887 cpuMemory:33.5047 cpuFrequency:1510.4
[2026-09-13 11:36:05.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.6457 cpuTemp:63.8435 cpuMemory:33.4211 cpuFrequency:1510.4
[2026-09-13 11:36:08.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.4981 cpuTemp:63.7885 cpuMemory:33.5016 cpuFrequency:1510.4
[2026-09-13 11:36:11.198] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.9473 cpuTemp:63.773 cpuMemory:33.4236 cpuFrequency:1510.4
[2026-09-13 11:36:14.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.1708 cpuTemp:63.8358 cpuMemory:33.1808 cpuFrequency:1510.4
[2026-09-13 11:36:17.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0683 cpuTemp:63.8433 cpuMemory:33.154 cpuFrequency:1510.4
[2026-09-13 11:36:20.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.1144 cpuTemp:63.8435 cpuMemory:33.2398 cpuFrequency:1510.4
[2026-09-13 11:36:23.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.8793 cpuTemp:63.812 cpuMemory:33.2419 cpuFrequency:1510.4
[2026-09-13 11:36:26.175] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.5223 cpuTemp:63.8045 cpuMemory:33.2343 cpuFrequency:1510.4
[2026-09-13 11:36:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.0176 cpuTemp:63.8043 cpuMemory:33.2414 cpuFrequency:1510.4
[2026-09-13 11:36:32.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.9199 cpuTemp:63.8355 cpuMemory:33.2534 cpuFrequency:1510.4
[2026-09-13 11:36:35.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.5473 cpuTemp:63.8512 cpuMemory:33.2464 cpuFrequency:1510.4
[2026-09-13 11:36:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.8633 cpuTemp:63.8902 cpuMemory:33.2397 cpuFrequency:1510.4
[2026-09-13 11:36:41.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.0959 cpuTemp:63.8278 cpuMemory:33.3046 cpuFrequency:1510.4
[2026-09-13 11:36:44.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.0626 cpuTemp:63.828 cpuMemory:33.3259 cpuFrequency:1510.4
[2026-09-13 11:36:47.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.8025 cpuTemp:63.812 cpuMemory:33.3001 cpuFrequency:1510.4
[2026-09-13 11:36:50.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0017 cpuTemp:63.7965 cpuMemory:33.3761 cpuFrequency:1510.4
[2026-09-13 11:36:53.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.4406 cpuTemp:63.828 cpuMemory:33.3434 cpuFrequency:1510.4
[2026-09-13 11:36:56.175] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.0117 cpuTemp:63.804 cpuMemory:33.4198 cpuFrequency:1510.4
[2026-09-13 11:36:59.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.1783 cpuTemp:63.8902 cpuMemory:33.3382 cpuFrequency:1510.4
[2026-09-13 11:37:02.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3834 cpuTemp:63.851 cpuMemory:33.4192 cpuFrequency:1510.4
[2026-09-13 11:37:05.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.4186 cpuTemp:63.8512 cpuMemory:33.3437 cpuFrequency:1510.4
[2026-09-13 11:37:08.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0051 cpuTemp:63.851 cpuMemory:33.342 cpuFrequency:1510.4
[2026-09-13 11:37:11.178] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.1957 cpuTemp:63.8435 cpuMemory:33.2837 cpuFrequency:1510.4
[2026-09-13 11:37:14.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5973 cpuTemp:63.8822 cpuMemory:33.3568 cpuFrequency:1510.4
[2026-09-13 11:37:17.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.5777 cpuTemp:63.9057 cpuMemory:33.3483 cpuFrequency:1510.4
[2026-09-13 11:37:20.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.5536 cpuTemp:63.812 cpuMemory:33.3506 cpuFrequency:1510.4
[2026-09-13 11:37:23.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.848 cpuTemp:63.867 cpuMemory:33.3437 cpuFrequency:1510.4
[2026-09-13 11:37:26.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.6437 cpuTemp:63.8042 cpuMemory:33.3401 cpuFrequency:1510.4
[2026-09-13 11:37:29.185] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5249 cpuTemp:63.9215 cpuMemory:33.3469 cpuFrequency:1510.4
[2026-09-13 11:37:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.779 cpuTemp:63.8357 cpuMemory:33.4479 cpuFrequency:1510.4
[2026-09-13 11:37:35.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.7188 cpuTemp:63.9058 cpuMemory:33.4382 cpuFrequency:1510.4
[2026-09-13 11:37:38.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.4422 cpuTemp:63.851 cpuMemory:33.301 cpuFrequency:1510.4
[2026-09-13 11:37:41.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1831 cpuTemp:63.9447 cpuMemory:33.4666 cpuFrequency:1510.4
[2026-09-13 11:37:44.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3503 cpuTemp:63.8825 cpuMemory:33.3879 cpuFrequency:1510.4
[2026-09-13 11:37:47.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.3271 cpuTemp:63.9138 cpuMemory:33.3935 cpuFrequency:1510.4
[2026-09-13 11:37:50.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.1551 cpuTemp:63.8355 cpuMemory:33.3859 cpuFrequency:1510.4
[2026-09-13 11:37:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.2921 cpuTemp:63.8432 cpuMemory:33.3908 cpuFrequency:1510.4
[2026-09-13 11:37:56.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.9934 cpuTemp:63.8822 cpuMemory:33.4118 cpuFrequency:1510.4
[2026-09-13 11:37:59.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.9401 cpuTemp:63.8667 cpuMemory:33.4116 cpuFrequency:1510.4
[2026-09-13 11:38:02.180] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.6966 cpuTemp:63.8667 cpuMemory:33.4209 cpuFrequency:1510.4
[2026-09-13 11:38:04.503] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:38:04.503] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:38:04.511] [INFO] Thread is already completed.
[2026-09-13 11:38:04.606] [INFO] Thread is already completed.
[2026-09-13 11:38:04.606] [INFO] lidar_type = mid360
[2026-09-13 11:38:04.628] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:38:08.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.6186 cpuTemp:63.945 cpuMemory:33.4056 cpuFrequency:1510.4
[2026-09-13 11:38:11.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.0166 cpuTemp:63.9917 cpuMemory:33.4043 cpuFrequency:1510.4
[2026-09-13 11:38:14.175] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.4179 cpuTemp:63.9997 cpuMemory:33.4177 cpuFrequency:1510.4
[2026-09-13 11:38:17.181] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.4372 cpuTemp:64.015 cpuMemory:33.4136 cpuFrequency:1510.4
[2026-09-13 11:38:20.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.4204 cpuTemp:63.9917 cpuMemory:33.5007 cpuFrequency:1510.4
[2026-09-13 11:38:23.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.1503 cpuTemp:64.0542 cpuMemory:33.4987 cpuFrequency:1510.4
[2026-09-13 11:38:26.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1095 cpuTemp:64.0697 cpuMemory:33.4353 cpuFrequency:1510.4
[2026-09-13 11:38:29.199] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.8102 cpuTemp:64.0623 cpuMemory:33.4091 cpuFrequency:1510.4
[2026-09-13 11:38:32.180] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.6475 cpuTemp:64.0465 cpuMemory:33.4407 cpuFrequency:1510.4
[2026-09-13 11:38:35.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.0377 cpuTemp:64.1402 cpuMemory:33.4517 cpuFrequency:1510.4
[2026-09-13 11:38:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.8782 cpuTemp:64.1248 cpuMemory:33.4447 cpuFrequency:1510.4
[2026-09-13 11:38:41.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.0507 cpuTemp:64.1087 cpuMemory:33.4482 cpuFrequency:1510.4
[2026-09-13 11:38:44.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.4639 cpuTemp:64.0935 cpuMemory:33.4647 cpuFrequency:1510.4
[2026-09-13 11:38:47.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.0505 cpuTemp:64.0935 cpuMemory:33.4538 cpuFrequency:1510.4
[2026-09-13 11:38:50.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.8922 cpuTemp:64.0855 cpuMemory:33.4643 cpuFrequency:1510.4
[2026-09-13 11:38:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.1874 cpuTemp:64.1637 cpuMemory:33.4595 cpuFrequency:1510.4
[2026-09-13 11:38:56.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.447 cpuTemp:64.148 cpuMemory:33.4596 cpuFrequency:1510.4
[2026-09-13 11:38:59.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.1717 cpuTemp:64.1325 cpuMemory:33.449 cpuFrequency:1510.4
[2026-09-13 11:39:02.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.7174 cpuTemp:64.1873 cpuMemory:33.5178 cpuFrequency:1510.4
[2026-09-13 11:39:05.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.8589 cpuTemp:64.0542 cpuMemory:33.5093 cpuFrequency:1510.4
[2026-09-13 11:39:08.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.8426 cpuTemp:64.1718 cpuMemory:33.6112 cpuFrequency:1510.4
[2026-09-13 11:39:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.4575 cpuTemp:64.156 cpuMemory:33.5799 cpuFrequency:1510.4
[2026-09-13 11:39:14.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.9752 cpuTemp:64.226 cpuMemory:33.5137 cpuFrequency:1510.4
[2026-09-13 11:39:17.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.7312 cpuTemp:64.0932 cpuMemory:33.5167 cpuFrequency:1510.4
[2026-09-13 11:39:18.511] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:39:18.511] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:39:18.513] [INFO] Thread is still running...
[2026-09-13 11:39:18.527] [INFO] lidar_type = mid360
[2026-09-13 11:39:18.588] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
[2026-09-13 11:39:20.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:80.5394 cpuTemp:64.0307 cpuMemory:33.5171 cpuFrequency:1510.4
[2026-09-13 11:39:26.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:81.1684 cpuTemp:63.8433 cpuMemory:33.5206 cpuFrequency:1454.93
[2026-09-13 11:39:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.4479 cpuTemp:63.8125 cpuMemory:33.5064 cpuFrequency:1510.4
[2026-09-13 11:39:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:83.3946 cpuTemp:63.8045 cpuMemory:33.5161 cpuFrequency:1510.4
[2026-09-13 11:39:41.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.3987 cpuTemp:63.5775 cpuMemory:33.5083 cpuFrequency:1467.73
[2026-09-13 11:39:50.692] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:39:50.692] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:39:50.692] [INFO] Thread is already completed.
[2026-09-13 11:39:50.693] [INFO] lidar_type = mid360
[2026-09-13 11:39:50.746] [INFO] Thread is already completed.
[2026-09-13 11:39:52.084] [INFO] ICP Score:0.00384332
[2026-09-13 11:39:52.128] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
[2026-09-13 11:39:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.8291 cpuTemp:63.6635 cpuMemory:33.7254 cpuFrequency:1510.4
[2026-09-13 11:39:54.259] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:39:54.260] [INFO] To get pl status.
[2026-09-13 11:39:54.260] [INFO] Received pl status: {"type":"pos_info","sec":1789270794,"nanosec":260069278,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.20395489259528407,"y":-0.031743109475445515,"z":0.019232825923916164,"q_w":0.9900139068404143,"q_x":-0.010387590431163055,"q_y":0.14058405628052276,"q_z":0.0008278570701601846},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:54.260] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.20395489259528407,"y":-0.031743109475445515,"z":0.019232825923916164,"q_w":0.9900139068404143,"q_x":-0.010387590431163055,"q_y":0.14058405628052276,"q_z":0.0008278570701601846},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:54.260] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:39:54.260] [INFO] Received graph response: slices size (1)
[2026-09-13 11:39:54.260] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:54.260] [INFO] edge(0) name:9999
[2026-09-13 11:39:54.260] [INFO] node(0) name:8888
[2026-09-13 11:39:54.260] [INFO] node(1) name:9999
[2026-09-13 11:39:54.267] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:54.268] [INFO] edge(0) name:9999
[2026-09-13 11:39:54.268] [INFO] node(0) name:8888
[2026-09-13 11:39:54.268] [INFO] node(1) name:9999
[2026-09-13 11:39:54.268] [INFO] Start control:
[2026-09-13 11:39:54.268] [INFO] Use normal control
[2026-09-13 11:39:55.574] [INFO] Control end.
[2026-09-13 11:39:55.574] [INFO] Pub slam key info: {"type":"task_result","sec":1789270795,"nanosec":574767784,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:39:55.578] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:39:55.578] [INFO] To get pl status.
[2026-09-13 11:39:55.578] [INFO] Received pl status: {"type":"pos_info","sec":1789270795,"nanosec":578838033,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09850138313906548,"y":-0.015055361359278051,"z":-0.002029304649631278,"q_w":0.9914139676803595,"q_x":-0.01518749159447256,"q_y":0.1298602348573011,"q_z":-0.0020010472662271837},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:55.578] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.09850138313906548,"y":-0.015055361359278051,"z":-0.002029304649631278,"q_w":0.9914139676803596,"q_x":-0.01518749159447256,"q_y":0.1298602348573011,"q_z":-0.0020010472662271837},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:55.579] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:39:55.579] [INFO] Received graph response: slices size (1)
[2026-09-13 11:39:55.579] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:55.579] [INFO] edge(0) name:9999
[2026-09-13 11:39:55.579] [INFO] node(0) name:8888
[2026-09-13 11:39:55.579] [INFO] node(1) name:9999
[2026-09-13 11:39:55.581] [INFO] Thread is still running...
[2026-09-13 11:39:55.604] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:55.604] [INFO] edge(0) name:9999
[2026-09-13 11:39:55.604] [INFO] node(0) name:8888
[2026-09-13 11:39:55.604] [INFO] node(1) name:9999
[2026-09-13 11:39:55.604] [INFO] Start control:
[2026-09-13 11:39:55.604] [INFO] Use normal control
[2026-09-13 11:39:55.810] [INFO] Control end.
[2026-09-13 11:39:55.810] [INFO] Pub slam key info: {"type":"task_result","sec":1789270795,"nanosec":810681173,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:39:55.812] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:39:55.812] [INFO] To get pl status.
[2026-09-13 11:39:55.812] [INFO] Received pl status: {"type":"pos_info","sec":1789270795,"nanosec":812060292,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.10301914185144839,"y":-0.020482375767490155,"z":0.004881815930548449,"q_w":0.9892891457405891,"q_x":-0.013545836189368155,"q_y":0.14533803047786714,"q_z":-0.0005944229139817748},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:55.812] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.1030191418514484,"y":-0.020482375767490155,"z":0.004881815930548449,"q_w":0.9892891457405892,"q_x":-0.013545836189368155,"q_y":0.14533803047786714,"q_z":-0.0005944229139817748},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:55.812] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:39:55.812] [INFO] Received graph response: slices size (1)
[2026-09-13 11:39:55.812] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:55.812] [INFO] edge(0) name:9999
[2026-09-13 11:39:55.812] [INFO] node(0) name:8888
[2026-09-13 11:39:55.812] [INFO] node(1) name:9999
[2026-09-13 11:39:55.812] [INFO] Thread is still running...
[2026-09-13 11:39:55.839] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:55.839] [INFO] edge(0) name:9999
[2026-09-13 11:39:55.839] [INFO] node(0) name:8888
[2026-09-13 11:39:55.840] [INFO] node(1) name:9999
[2026-09-13 11:39:55.840] [INFO] Start control:
[2026-09-13 11:39:55.840] [INFO] Use normal control
[2026-09-13 11:39:56.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.8999 cpuTemp:63.734 cpuMemory:33.685 cpuFrequency:1510.4
[2026-09-13 11:39:56.652] [INFO] Control end.
[2026-09-13 11:39:56.652] [INFO] Pub slam key info: {"type":"task_result","sec":1789270796,"nanosec":652501762,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:39:56.657] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:39:56.657] [INFO] To get pl status.
[2026-09-13 11:39:56.657] [INFO] Received pl status: {"type":"pos_info","sec":1789270796,"nanosec":657114685,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08512546634297338,"y":-0.011927585814162587,"z":-0.003952450899929759,"q_w":0.9903751975535455,"q_x":-0.01368157555992313,"q_y":0.13773072259123006,"q_z":-0.0001749727729066891},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:56.657] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08512546634297338,"y":-0.011927585814162587,"z":-0.003952450899929759,"q_w":0.9903751975535456,"q_x":-0.01368157555992313,"q_y":0.13773072259123006,"q_z":-0.0001749727729066891},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:56.657] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:39:56.657] [INFO] Received graph response: slices size (1)
[2026-09-13 11:39:56.657] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:56.657] [INFO] edge(0) name:9999
[2026-09-13 11:39:56.657] [INFO] node(0) name:8888
[2026-09-13 11:39:56.657] [INFO] node(1) name:9999
[2026-09-13 11:39:56.657] [INFO] Thread is still running...
[2026-09-13 11:39:56.673] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:56.673] [INFO] edge(0) name:9999
[2026-09-13 11:39:56.673] [INFO] node(0) name:8888
[2026-09-13 11:39:56.673] [INFO] node(1) name:9999
[2026-09-13 11:39:56.673] [INFO] Start control:
[2026-09-13 11:39:56.673] [INFO] Use normal control
[2026-09-13 11:39:56.877] [INFO] Control end.
[2026-09-13 11:39:56.877] [INFO] Pub slam key info: {"type":"task_result","sec":1789270796,"nanosec":877509087,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:39:56.878] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:39:56.878] [INFO] To get pl status.
[2026-09-13 11:39:56.878] [INFO] Received pl status: {"type":"pos_info","sec":1789270796,"nanosec":878596356,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.09236759070733812,"y":-0.012685958925289233,"z":0.006792612875991913,"q_w":0.9898172311228187,"q_x":-0.013719042081711737,"q_y":0.14168137892545296,"q_z":0.00015402109934299285},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:56.878] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.09236759070733812,"y":-0.012685958925289231,"z":0.006792612875991913,"q_w":0.9898172311228188,"q_x":-0.013719042081711735,"q_y":0.14168137892545296,"q_z":0.00015402109934299285},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:39:56.878] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:39:56.878] [INFO] Received graph response: slices size (1)
[2026-09-13 11:39:56.878] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:56.878] [INFO] edge(0) name:9999
[2026-09-13 11:39:56.878] [INFO] node(0) name:8888
[2026-09-13 11:39:56.878] [INFO] node(1) name:9999
[2026-09-13 11:39:56.878] [INFO] Thread is still running...
[2026-09-13 11:39:56.902] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:39:56.902] [INFO] edge(0) name:9999
[2026-09-13 11:39:56.908] [INFO] node(0) name:8888
[2026-09-13 11:39:56.908] [INFO] node(1) name:9999
[2026-09-13 11:39:56.908] [INFO] Start control:
[2026-09-13 11:39:56.908] [INFO] Use normal control
[2026-09-13 11:39:59.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.9486 cpuTemp:63.8042 cpuMemory:33.7587 cpuFrequency:1510.4
[2026-09-13 11:40:02.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.7722 cpuTemp:63.8433 cpuMemory:33.6796 cpuFrequency:1510.4
[2026-09-13 11:40:05.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.5245 cpuTemp:63.8512 cpuMemory:33.6769 cpuFrequency:1510.4
[2026-09-13 11:40:08.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.723 cpuTemp:63.859 cpuMemory:33.6827 cpuFrequency:1510.4
[2026-09-13 11:40:08.832] [INFO] Control end.
[2026-09-13 11:40:08.832] [INFO] Pub slam key info: {"type":"task_result","sec":1789270808,"nanosec":832597282,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:08.836] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:08.836] [INFO] To get pl status.
[2026-09-13 11:40:08.836] [INFO] Received pl status: {"type":"pos_info","sec":1789270808,"nanosec":836485029,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9291796690693792,"y":0.3415203672246141,"z":0.018813857639657507,"q_w":0.9918404938514627,"q_x":-0.02325401105107441,"q_y":0.12068093862379152,"q_z":0.03387914962633697},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:08.836] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9291796690693792,"y":0.3415203672246141,"z":0.018813857639657507,"q_w":0.9918404938514628,"q_x":-0.02325401105107441,"q_y":0.12068093862379152,"q_z":0.03387914962633697},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:08.836] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:08.836] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:08.836] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:08.836] [INFO] edge(0) name:9999
[2026-09-13 11:40:08.836] [INFO] node(0) name:8888
[2026-09-13 11:40:08.836] [INFO] node(1) name:9999
[2026-09-13 11:40:08.836] [INFO] Thread is still running...
[2026-09-13 11:40:08.863] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:08.863] [INFO] edge(0) name:9999
[2026-09-13 11:40:08.863] [INFO] node(0) name:8888
[2026-09-13 11:40:08.863] [INFO] node(1) name:9999
[2026-09-13 11:40:08.863] [INFO] Start control:
[2026-09-13 11:40:08.863] [INFO] Use normal control
[2026-09-13 11:40:09.071] [INFO] Control end.
[2026-09-13 11:40:09.072] [INFO] Pub slam key info: {"type":"task_result","sec":1789270809,"nanosec":71981444,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:09.077] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:09.077] [INFO] To get pl status.
[2026-09-13 11:40:09.077] [INFO] Received pl status: {"type":"pos_info","sec":1789270809,"nanosec":77531903,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9300321369693569,"y":0.34776110778209124,"z":0.018535876134617896,"q_w":0.992839873953376,"q_x":-0.010116049162390237,"q_y":0.11792150043589644,"q_z":0.016160754083127518},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:09.077] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9300321369693568,"y":0.34776110778209124,"z":0.018535876134617896,"q_w":0.992839873953376,"q_x":-0.010116049162390235,"q_y":0.11792150043589644,"q_z":0.016160754083127518},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:09.077] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:09.078] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:09.078] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:09.078] [INFO] edge(0) name:9999
[2026-09-13 11:40:09.078] [INFO] node(0) name:8888
[2026-09-13 11:40:09.078] [INFO] node(1) name:9999
[2026-09-13 11:40:09.078] [INFO] Thread is still running...
[2026-09-13 11:40:09.103] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:09.103] [INFO] edge(0) name:9999
[2026-09-13 11:40:09.103] [INFO] node(0) name:8888
[2026-09-13 11:40:09.103] [INFO] node(1) name:9999
[2026-09-13 11:40:09.103] [INFO] Start control:
[2026-09-13 11:40:09.103] [INFO] Use normal control
[2026-09-13 11:40:09.306] [INFO] Control end.
[2026-09-13 11:40:09.306] [INFO] Pub slam key info: {"type":"task_result","sec":1789270809,"nanosec":306671143,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:09.314] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:09.314] [INFO] To get pl status.
[2026-09-13 11:40:09.314] [INFO] Received pl status: {"type":"pos_info","sec":1789270809,"nanosec":314534192,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9316693764745351,"y":0.3556311519819376,"z":0.02063439434331667,"q_w":0.9926128912593176,"q_x":-0.018366414143959335,"q_y":0.11625160056188857,"q_z":0.029459944061555363},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:09.314] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9316693764745352,"y":0.3556311519819376,"z":0.02063439434331667,"q_w":0.9926128912593176,"q_x":-0.018366414143959335,"q_y":0.11625160056188856,"q_z":0.029459944061555363},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:09.314] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:09.314] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:09.314] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:09.314] [INFO] edge(0) name:9999
[2026-09-13 11:40:09.314] [INFO] node(0) name:8888
[2026-09-13 11:40:09.314] [INFO] node(1) name:9999
[2026-09-13 11:40:09.314] [INFO] Thread is still running...
[2026-09-13 11:40:09.339] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:09.339] [INFO] edge(0) name:9999
[2026-09-13 11:40:09.351] [INFO] node(0) name:8888
[2026-09-13 11:40:09.351] [INFO] node(1) name:9999
[2026-09-13 11:40:09.351] [INFO] Start control:
[2026-09-13 11:40:09.351] [INFO] Use normal control
[2026-09-13 11:40:09.554] [INFO] Control end.
[2026-09-13 11:40:09.554] [INFO] Pub slam key info: {"type":"task_result","sec":1789270809,"nanosec":554744014,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:09.557] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:09.557] [INFO] To get pl status.
[2026-09-13 11:40:09.557] [INFO] Received pl status: {"type":"pos_info","sec":1789270809,"nanosec":557787349,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9333816684490664,"y":0.34888478888696145,"z":0.021629492545045835,"q_w":0.9924903532065472,"q_x":-0.017883034302819813,"q_y":0.11500961080356364,"q_z":0.037628251339656915},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:09.557] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9333816684490664,"y":0.34888478888696145,"z":0.021629492545045835,"q_w":0.9924903532065472,"q_x":-0.017883034302819813,"q_y":0.11500961080356364,"q_z":0.037628251339656915},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:09.558] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:09.558] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:09.558] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:09.558] [INFO] edge(0) name:9999
[2026-09-13 11:40:09.558] [INFO] node(0) name:8888
[2026-09-13 11:40:09.558] [INFO] node(1) name:9999
[2026-09-13 11:40:09.558] [INFO] Thread is still running...
[2026-09-13 11:40:09.575] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:09.575] [INFO] edge(0) name:9999
[2026-09-13 11:40:09.575] [INFO] node(0) name:8888
[2026-09-13 11:40:09.575] [INFO] node(1) name:9999
[2026-09-13 11:40:09.575] [INFO] Start control:
[2026-09-13 11:40:09.575] [INFO] Use normal control
[2026-09-13 11:40:09.784] [INFO] Control end.
[2026-09-13 11:40:09.784] [INFO] Pub slam key info: {"type":"task_result","sec":1789270809,"nanosec":784598191,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:09.788] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:09.788] [INFO] To get pl status.
[2026-09-13 11:40:09.788] [INFO] Received pl status: {"type":"pos_info","sec":1789270809,"nanosec":788379438,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9332899505587187,"y":0.3508983975762716,"z":0.022442184588655524,"q_w":0.9922950064757479,"q_x":-0.01856307945081375,"q_y":0.11542887123633157,"q_z":0.04101472771706192},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:09.788] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.9332899505587188,"y":0.3508983975762716,"z":0.022442184588655524,"q_w":0.992295006475748,"q_x":-0.01856307945081375,"q_y":0.11542887123633155,"q_z":0.04101472771706192},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:09.788] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:09.788] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:09.789] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:09.789] [INFO] edge(0) name:9999
[2026-09-13 11:40:09.789] [INFO] node(0) name:8888
[2026-09-13 11:40:09.789] [INFO] node(1) name:9999
[2026-09-13 11:40:09.789] [INFO] Thread is still running...
[2026-09-13 11:40:09.807] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:09.807] [INFO] edge(0) name:9999
[2026-09-13 11:40:09.807] [INFO] node(0) name:8888
[2026-09-13 11:40:09.807] [INFO] node(1) name:9999
[2026-09-13 11:40:09.807] [INFO] Start control:
[2026-09-13 11:40:09.807] [INFO] Use normal control
[2026-09-13 11:40:11.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.8123 cpuTemp:63.8432 cpuMemory:33.6774 cpuFrequency:1510.4
[2026-09-13 11:40:13.628] [INFO] Control end.
[2026-09-13 11:40:13.628] [INFO] Pub slam key info: {"type":"task_result","sec":1789270813,"nanosec":628218355,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:13.632] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:13.632] [INFO] To get pl status.
[2026-09-13 11:40:13.632] [INFO] Received pl status: {"type":"pos_info","sec":1789270813,"nanosec":632717451,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.04287573327081683,"y":-0.013009412085214063,"z":0.015137639365449871,"q_w":0.9913768670015777,"q_x":-0.012914100307631836,"q_y":0.13000688738298763,"q_z":-0.010165767082109105},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:13.632] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.04287573327081683,"y":-0.013009412085214065,"z":0.015137639365449871,"q_w":0.9913768670015776,"q_x":-0.012914100307631836,"q_y":0.13000688738298763,"q_z":-0.010165767082109103},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:13.632] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:13.632] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:13.632] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:13.633] [INFO] edge(0) name:9999
[2026-09-13 11:40:13.633] [INFO] node(0) name:8888
[2026-09-13 11:40:13.633] [INFO] node(1) name:9999
[2026-09-13 11:40:13.633] [INFO] Thread is still running...
[2026-09-13 11:40:13.657] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:13.657] [INFO] edge(0) name:9999
[2026-09-13 11:40:13.658] [INFO] node(0) name:8888
[2026-09-13 11:40:13.658] [INFO] node(1) name:9999
[2026-09-13 11:40:13.658] [INFO] Start control:
[2026-09-13 11:40:13.658] [INFO] Use normal control
[2026-09-13 11:40:13.863] [INFO] Control end.
[2026-09-13 11:40:13.864] [INFO] Pub slam key info: {"type":"task_result","sec":1789270813,"nanosec":864009404,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:13.875] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:13.875] [INFO] To get pl status.
[2026-09-13 11:40:13.875] [INFO] Received pl status: {"type":"pos_info","sec":1789270813,"nanosec":875456830,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.03395161933664488,"y":-0.021905580987389588,"z":0.014663210534622583,"q_w":0.9915556739151653,"q_x":-0.01533392150574447,"q_y":0.12789897835657763,"q_z":-0.014968891516795032},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:13.875] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.03395161933664488,"y":-0.021905580987389588,"z":0.014663210534622583,"q_w":0.9915556739151652,"q_x":-0.01533392150574447,"q_y":0.12789897835657765,"q_z":-0.014968891516795032},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:13.875] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:13.875] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:13.875] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:13.875] [INFO] edge(0) name:9999
[2026-09-13 11:40:13.875] [INFO] node(0) name:8888
[2026-09-13 11:40:13.875] [INFO] node(1) name:9999
[2026-09-13 11:40:13.875] [INFO] Thread is still running...
[2026-09-13 11:40:13.904] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:13.904] [INFO] edge(0) name:9999
[2026-09-13 11:40:13.904] [INFO] node(0) name:8888
[2026-09-13 11:40:13.904] [INFO] node(1) name:9999
[2026-09-13 11:40:13.904] [INFO] Start control:
[2026-09-13 11:40:13.904] [INFO] Use normal control
[2026-09-13 11:40:14.127] [INFO] Control end.
[2026-09-13 11:40:14.128] [INFO] Pub slam key info: {"type":"task_result","sec":1789270814,"nanosec":127976058,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:14.129] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:14.129] [INFO] To get pl status.
[2026-09-13 11:40:14.129] [INFO] Received pl status: {"type":"pos_info","sec":1789270814,"nanosec":129474668,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.03200889818197559,"y":-0.005864010828352504,"z":0.01238891528223572,"q_w":0.9913358566105207,"q_x":-0.02173501687940419,"q_y":0.1293534111747893,"q_z":-0.006964442331083427},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:14.129] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.03200889818197559,"y":-0.005864010828352504,"z":0.01238891528223572,"q_w":0.9913358566105208,"q_x":-0.02173501687940419,"q_y":0.1293534111747893,"q_z":-0.006964442331083427},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:14.129] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:14.129] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:14.129] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:14.129] [INFO] edge(0) name:9999
[2026-09-13 11:40:14.129] [INFO] node(0) name:8888
[2026-09-13 11:40:14.129] [INFO] node(1) name:9999
[2026-09-13 11:40:14.129] [INFO] Thread is still running...
[2026-09-13 11:40:14.148] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:14.148] [INFO] edge(0) name:9999
[2026-09-13 11:40:14.148] [INFO] node(0) name:8888
[2026-09-13 11:40:14.148] [INFO] node(1) name:9999
[2026-09-13 11:40:14.148] [INFO] Start control:
[2026-09-13 11:40:14.148] [INFO] Use normal control
[2026-09-13 11:40:14.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.406 cpuTemp:63.8745 cpuMemory:33.687 cpuFrequency:1510.4
[2026-09-13 11:40:14.356] [INFO] Control end.
[2026-09-13 11:40:14.356] [INFO] Pub slam key info: {"type":"task_result","sec":1789270814,"nanosec":356521519,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:14.363] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:14.363] [INFO] To get pl status.
[2026-09-13 11:40:14.363] [INFO] Received pl status: {"type":"pos_info","sec":1789270814,"nanosec":363328884,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0331263437133513,"y":0.00028419479444908837,"z":0.0154963167026184,"q_w":0.9913951920984542,"q_x":-0.021542539229327157,"q_y":0.12902568300994027,"q_z":-0.004885203316202438},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:14.363] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0331263437133513,"y":0.00028419479444908837,"z":0.0154963167026184,"q_w":0.9913951920984542,"q_x":-0.021542539229327157,"q_y":0.12902568300994027,"q_z":-0.004885203316202438},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:14.363] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:14.363] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:14.363] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:14.363] [INFO] edge(0) name:9999
[2026-09-13 11:40:14.363] [INFO] node(0) name:8888
[2026-09-13 11:40:14.363] [INFO] node(1) name:9999
[2026-09-13 11:40:14.363] [INFO] Thread is still running...
[2026-09-13 11:40:14.384] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:14.384] [INFO] edge(0) name:9999
[2026-09-13 11:40:14.384] [INFO] node(0) name:8888
[2026-09-13 11:40:14.384] [INFO] node(1) name:9999
[2026-09-13 11:40:14.384] [INFO] Start control:
[2026-09-13 11:40:14.384] [INFO] Use normal control
[2026-09-13 11:40:14.591] [INFO] Control end.
[2026-09-13 11:40:14.591] [INFO] Pub slam key info: {"type":"task_result","sec":1789270814,"nanosec":591580287,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:14.596] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:14.596] [INFO] To get pl status.
[2026-09-13 11:40:14.596] [INFO] Received pl status: {"type":"pos_info","sec":1789270814,"nanosec":596637225,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.0311468973031679,"y":-0.0001446312011977878,"z":0.016260558355251274,"q_w":0.9912884319444208,"q_x":-0.021511765020794868,"q_y":0.12986743925905514,"q_z":-0.0043516524628456205},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:14.596] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.0311468973031679,"y":-0.0001446312011977878,"z":0.016260558355251274,"q_w":0.9912884319444208,"q_x":-0.021511765020794868,"q_y":0.12986743925905514,"q_z":-0.0043516524628456205},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:14.596] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:14.596] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:14.596] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:14.596] [INFO] edge(0) name:9999
[2026-09-13 11:40:14.596] [INFO] node(0) name:8888
[2026-09-13 11:40:14.596] [INFO] node(1) name:9999
[2026-09-13 11:40:14.596] [INFO] Thread is still running...
[2026-09-13 11:40:14.618] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:14.618] [INFO] edge(0) name:9999
[2026-09-13 11:40:14.618] [INFO] node(0) name:8888
[2026-09-13 11:40:14.618] [INFO] node(1) name:9999
[2026-09-13 11:40:14.618] [INFO] Start control:
[2026-09-13 11:40:14.618] [INFO] Use normal control
[2026-09-13 11:40:14.822] [INFO] Control end.
[2026-09-13 11:40:14.822] [INFO] Pub slam key info: {"type":"task_result","sec":1789270814,"nanosec":822033364,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:14.827] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:14.827] [INFO] To get pl status.
[2026-09-13 11:40:14.827] [INFO] Received pl status: {"type":"pos_info","sec":1789270814,"nanosec":827690610,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.031838329812617694,"y":0.0008453766003061944,"z":0.015525465115726847,"q_w":0.9912968769771734,"q_x":-0.021892710878329644,"q_y":0.12978662368377916,"q_z":-0.0025774441731902437},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:14.827] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.031838329812617694,"y":0.0008453766003061944,"z":0.015525465115726849,"q_w":0.9912968769771734,"q_x":-0.021892710878329644,"q_y":0.12978662368377916,"q_z":-0.0025774441731902437},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:14.828] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:14.828] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:14.828] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:14.828] [INFO] edge(0) name:9999
[2026-09-13 11:40:14.828] [INFO] node(0) name:8888
[2026-09-13 11:40:14.828] [INFO] node(1) name:9999
[2026-09-13 11:40:14.828] [INFO] Thread is still running...
[2026-09-13 11:40:14.842] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:14.842] [INFO] edge(0) name:9999
[2026-09-13 11:40:14.842] [INFO] node(0) name:8888
[2026-09-13 11:40:14.842] [INFO] node(1) name:9999
[2026-09-13 11:40:14.842] [INFO] Start control:
[2026-09-13 11:40:14.842] [INFO] Use normal control
[2026-09-13 11:40:15.046] [INFO] Control end.
[2026-09-13 11:40:15.046] [INFO] Pub slam key info: {"type":"task_result","sec":1789270815,"nanosec":46784137,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:15.051] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:15.051] [INFO] To get pl status.
[2026-09-13 11:40:15.051] [INFO] Received pl status: {"type":"pos_info","sec":1789270815,"nanosec":51224798,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.03574627933487845,"y":0.0015986113367830227,"z":0.0170308911816602,"q_w":0.9912042229113782,"q_x":-0.021664660660152425,"q_y":0.130546620291106,"q_z":-0.0015527046407554335},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:15.051] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.03574627933487845,"y":0.0015986113367830227,"z":0.0170308911816602,"q_w":0.9912042229113782,"q_x":-0.021664660660152425,"q_y":0.130546620291106,"q_z":-0.0015527046407554335},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:15.051] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:15.051] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:15.051] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:15.051] [INFO] edge(0) name:9999
[2026-09-13 11:40:15.051] [INFO] node(0) name:8888
[2026-09-13 11:40:15.051] [INFO] node(1) name:9999
[2026-09-13 11:40:15.051] [INFO] Thread is still running...
[2026-09-13 11:40:15.067] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:15.067] [INFO] edge(0) name:9999
[2026-09-13 11:40:15.067] [INFO] node(0) name:8888
[2026-09-13 11:40:15.067] [INFO] node(1) name:9999
[2026-09-13 11:40:15.067] [INFO] Start control:
[2026-09-13 11:40:15.067] [INFO] Use normal control
[2026-09-13 11:40:17.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.9846 cpuTemp:63.898 cpuMemory:33.6644 cpuFrequency:1510.4
[2026-09-13 11:40:20.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.675 cpuTemp:63.8512 cpuMemory:33.6554 cpuFrequency:1510.4
[2026-09-13 11:40:23.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.2994 cpuTemp:63.9528 cpuMemory:33.6764 cpuFrequency:1510.4
[2026-09-13 11:40:26.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.5951 cpuTemp:63.9215 cpuMemory:33.7474 cpuFrequency:1510.4
[2026-09-13 11:40:27.120] [INFO] Control end.
[2026-09-13 11:40:27.120] [INFO] Pub slam key info: {"type":"task_result","sec":1789270827,"nanosec":120815507,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:27.127] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:27.127] [INFO] To get pl status.
[2026-09-13 11:40:27.127] [INFO] Received pl status: {"type":"pos_info","sec":1789270827,"nanosec":127846112,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9348787168041226,"y":0.33940901697073694,"z":0.02263999440157507,"q_w":0.9912344443636609,"q_x":-0.0248191032017308,"q_y":0.1297465638351218,"q_z":-0.0020291861188716192},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:27.128] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9348787168041226,"y":0.33940901697073694,"z":0.02263999440157507,"q_w":0.9912344443636608,"q_x":-0.0248191032017308,"q_y":0.1297465638351218,"q_z":-0.0020291861188716192},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:27.129] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:27.129] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:27.129] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:27.129] [INFO] edge(0) name:9999
[2026-09-13 11:40:27.129] [INFO] node(0) name:8888
[2026-09-13 11:40:27.129] [INFO] node(1) name:9999
[2026-09-13 11:40:27.129] [INFO] Thread is still running...
[2026-09-13 11:40:27.157] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:27.157] [INFO] edge(0) name:9999
[2026-09-13 11:40:27.157] [INFO] node(0) name:8888
[2026-09-13 11:40:27.157] [INFO] node(1) name:9999
[2026-09-13 11:40:27.157] [INFO] Start control:
[2026-09-13 11:40:27.157] [INFO] Use normal control
[2026-09-13 11:40:27.360] [INFO] Control end.
[2026-09-13 11:40:27.361] [INFO] Pub slam key info: {"type":"task_result","sec":1789270827,"nanosec":360992783,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:27.365] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:27.365] [INFO] To get pl status.
[2026-09-13 11:40:27.365] [INFO] Received pl status: {"type":"pos_info","sec":1789270827,"nanosec":365959959,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.937918642985517,"y":0.36309531353143915,"z":0.02266172364933454,"q_w":0.9921076055991971,"q_x":-0.0238353485279046,"q_y":0.12309341294118996,"q_z":-0.0015449152957770528},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:27.366] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.937918642985517,"y":0.36309531353143915,"z":0.02266172364933454,"q_w":0.9921076055991972,"q_x":-0.0238353485279046,"q_y":0.12309341294118996,"q_z":-0.0015449152957770528},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:27.366] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:27.366] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:27.366] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:27.366] [INFO] edge(0) name:9999
[2026-09-13 11:40:27.366] [INFO] node(0) name:8888
[2026-09-13 11:40:27.366] [INFO] node(1) name:9999
[2026-09-13 11:40:27.366] [INFO] Thread is still running...
[2026-09-13 11:40:27.381] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:27.381] [INFO] edge(0) name:9999
[2026-09-13 11:40:27.381] [INFO] node(0) name:8888
[2026-09-13 11:40:27.381] [INFO] node(1) name:9999
[2026-09-13 11:40:27.382] [INFO] Start control:
[2026-09-13 11:40:27.382] [INFO] Use normal control
[2026-09-13 11:40:27.585] [INFO] Control end.
[2026-09-13 11:40:27.585] [INFO] Pub slam key info: {"type":"task_result","sec":1789270827,"nanosec":585556190,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:27.587] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:27.587] [INFO] To get pl status.
[2026-09-13 11:40:27.587] [INFO] Received pl status: {"type":"pos_info","sec":1789270827,"nanosec":587140531,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9368820910962993,"y":0.36193785607466583,"z":0.022594864499413482,"q_w":0.9921045572183339,"q_x":-0.023411306268951597,"q_y":0.12294061047026075,"q_z":0.008128012216706117},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:27.587] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.9368820910962992,"y":0.36193785607466583,"z":0.02259486449941348,"q_w":0.992104557218334,"q_x":-0.023411306268951597,"q_y":0.12294061047026077,"q_z":0.008128012216706117},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:27.587] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:27.587] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:27.587] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:27.587] [INFO] edge(0) name:9999
[2026-09-13 11:40:27.587] [INFO] node(0) name:8888
[2026-09-13 11:40:27.587] [INFO] node(1) name:9999
[2026-09-13 11:40:27.587] [INFO] Thread is still running...
[2026-09-13 11:40:27.605] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:27.606] [INFO] edge(0) name:9999
[2026-09-13 11:40:27.606] [INFO] node(0) name:8888
[2026-09-13 11:40:27.606] [INFO] node(1) name:9999
[2026-09-13 11:40:27.606] [INFO] Start control:
[2026-09-13 11:40:27.606] [INFO] Use normal control
[2026-09-13 11:40:27.814] [INFO] Control end.
[2026-09-13 11:40:27.814] [INFO] Pub slam key info: {"type":"task_result","sec":1789270827,"nanosec":814312666,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:27.816] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:27.816] [INFO] To get pl status.
[2026-09-13 11:40:27.816] [INFO] Received pl status: {"type":"pos_info","sec":1789270827,"nanosec":816611687,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9359712948014901,"y":0.35811321627144416,"z":0.01858023888659549,"q_w":0.9922057107430914,"q_x":-0.02447313816604577,"q_y":0.12134672108618778,"q_z":0.014278177710536051},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:27.816] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.93597129480149,"y":0.35811321627144416,"z":0.01858023888659549,"q_w":0.9922057107430914,"q_x":-0.02447313816604577,"q_y":0.12134672108618778,"q_z":0.014278177710536051},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:27.816] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:27.816] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:27.816] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:27.816] [INFO] edge(0) name:9999
[2026-09-13 11:40:27.816] [INFO] node(0) name:8888
[2026-09-13 11:40:27.816] [INFO] node(1) name:9999
[2026-09-13 11:40:27.816] [INFO] Thread is still running...
[2026-09-13 11:40:27.841] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:27.841] [INFO] edge(0) name:9999
[2026-09-13 11:40:27.841] [INFO] node(0) name:8888
[2026-09-13 11:40:27.841] [INFO] node(1) name:9999
[2026-09-13 11:40:27.841] [INFO] Start control:
[2026-09-13 11:40:27.841] [INFO] Use normal control
[2026-09-13 11:40:28.054] [INFO] Control end.
[2026-09-13 11:40:28.054] [INFO] Pub slam key info: {"type":"task_result","sec":1789270828,"nanosec":54503319,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:28.061] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:28.061] [INFO] To get pl status.
[2026-09-13 11:40:28.061] [INFO] Received pl status: {"type":"pos_info","sec":1789270828,"nanosec":61609542,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.9330900586478355,"y":0.3528292758719734,"z":0.019321156254432485,"q_w":0.9920827304617255,"q_x":-0.024993153206317037,"q_y":0.12180626706473437,"q_z":0.017619066835888385},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:28.061] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.9330900586478356,"y":0.3528292758719734,"z":0.019321156254432485,"q_w":0.9920827304617256,"q_x":-0.024993153206317037,"q_y":0.12180626706473437,"q_z":0.017619066835888385},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:28.061] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:28.062] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:28.062] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:28.062] [INFO] edge(0) name:9999
[2026-09-13 11:40:28.062] [INFO] node(0) name:8888
[2026-09-13 11:40:28.062] [INFO] node(1) name:9999
[2026-09-13 11:40:28.062] [INFO] Thread is still running...
[2026-09-13 11:40:28.078] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:28.078] [INFO] edge(0) name:9999
[2026-09-13 11:40:28.078] [INFO] node(0) name:8888
[2026-09-13 11:40:28.078] [INFO] node(1) name:9999
[2026-09-13 11:40:28.078] [INFO] Start control:
[2026-09-13 11:40:28.078] [INFO] Use normal control
[2026-09-13 11:40:29.180] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.9701 cpuTemp:64.0152 cpuMemory:33.6773 cpuFrequency:1510.4
[2026-09-13 11:40:32.182] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.6198 cpuTemp:64.0075 cpuMemory:33.6739 cpuFrequency:1510.4
[2026-09-13 11:40:33.090] [INFO] Control end.
[2026-09-13 11:40:33.091] [INFO] Pub slam key info: {"type":"task_result","sec":1789270833,"nanosec":90893560,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:33.093] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:33.093] [INFO] To get pl status.
[2026-09-13 11:40:33.093] [INFO] Received pl status: {"type":"pos_info","sec":1789270833,"nanosec":93681270,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.06649355967715853,"y":-0.0030097298313395433,"z":0.008745070389133988,"q_w":0.9885180124933158,"q_x":-0.018544368056881075,"q_y":0.1476782288927948,"q_z":-0.02606503598161939},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:33.093] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.06649355967715853,"y":-0.0030097298313395433,"z":0.008745070389133988,"q_w":0.9885180124933158,"q_x":-0.018544368056881075,"q_y":0.1476782288927948,"q_z":-0.02606503598161939},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:33.093] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:33.093] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:33.093] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:33.093] [INFO] edge(0) name:9999
[2026-09-13 11:40:33.093] [INFO] node(0) name:8888
[2026-09-13 11:40:33.093] [INFO] node(1) name:9999
[2026-09-13 11:40:33.094] [INFO] Thread is still running...
[2026-09-13 11:40:33.118] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:33.118] [INFO] edge(0) name:9999
[2026-09-13 11:40:33.119] [INFO] node(0) name:8888
[2026-09-13 11:40:33.119] [INFO] node(1) name:9999
[2026-09-13 11:40:33.119] [INFO] Start control:
[2026-09-13 11:40:33.119] [INFO] Use normal control
[2026-09-13 11:40:33.321] [INFO] Control end.
[2026-09-13 11:40:33.321] [INFO] Pub slam key info: {"type":"task_result","sec":1789270833,"nanosec":321721530,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:33.325] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:33.325] [INFO] To get pl status.
[2026-09-13 11:40:33.325] [INFO] Received pl status: {"type":"pos_info","sec":1789270833,"nanosec":325910279,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.059567378941642206,"y":-0.0382294061795441,"z":0.01165934630376135,"q_w":0.9901718684149813,"q_x":-0.01742708534737134,"q_y":0.138765708262715,"q_z":0.00021425738664491203},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:33.325] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.059567378941642206,"y":-0.0382294061795441,"z":0.01165934630376135,"q_w":0.9901718684149812,"q_x":-0.01742708534737134,"q_y":0.138765708262715,"q_z":0.00021425738664491203},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:33.326] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:33.326] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:33.326] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:33.326] [INFO] edge(0) name:9999
[2026-09-13 11:40:33.326] [INFO] node(0) name:8888
[2026-09-13 11:40:33.326] [INFO] node(1) name:9999
[2026-09-13 11:40:33.326] [INFO] Thread is still running...
[2026-09-13 11:40:33.342] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:33.343] [INFO] edge(0) name:9999
[2026-09-13 11:40:33.343] [INFO] node(0) name:8888
[2026-09-13 11:40:33.343] [INFO] node(1) name:9999
[2026-09-13 11:40:33.343] [INFO] Start control:
[2026-09-13 11:40:33.343] [INFO] Use normal control
[2026-09-13 11:40:33.546] [INFO] Control end.
[2026-09-13 11:40:33.546] [INFO] Pub slam key info: {"type":"task_result","sec":1789270833,"nanosec":546246247,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:33.550] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:33.550] [INFO] To get pl status.
[2026-09-13 11:40:33.550] [INFO] Received pl status: {"type":"pos_info","sec":1789270833,"nanosec":550737055,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.07163695972361886,"y":-0.03130157667288242,"z":0.01547436323994955,"q_w":0.9908684615514834,"q_x":-0.0193119817451142,"q_y":0.13328199531536605,"q_z":0.006530619298924409},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:33.550] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.07163695972361886,"y":-0.03130157667288242,"z":0.01547436323994955,"q_w":0.9908684615514834,"q_x":-0.0193119817451142,"q_y":0.13328199531536605,"q_z":0.006530619298924409},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:33.551] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:33.551] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:33.551] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:33.551] [INFO] edge(0) name:9999
[2026-09-13 11:40:33.551] [INFO] node(0) name:8888
[2026-09-13 11:40:33.551] [INFO] node(1) name:9999
[2026-09-13 11:40:33.551] [INFO] Thread is still running...
[2026-09-13 11:40:33.570] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:33.570] [INFO] edge(0) name:9999
[2026-09-13 11:40:33.570] [INFO] node(0) name:8888
[2026-09-13 11:40:33.570] [INFO] node(1) name:9999
[2026-09-13 11:40:33.570] [INFO] Start control:
[2026-09-13 11:40:33.570] [INFO] Use normal control
[2026-09-13 11:40:33.773] [INFO] Control end.
[2026-09-13 11:40:33.773] [INFO] Pub slam key info: {"type":"task_result","sec":1789270833,"nanosec":773882141,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:33.783] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:33.783] [INFO] To get pl status.
[2026-09-13 11:40:33.783] [INFO] Received pl status: {"type":"pos_info","sec":1789270833,"nanosec":783858317,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08096001359308484,"y":-0.02480388218665793,"z":0.01590290469819424,"q_w":0.9912565253343636,"q_x":-0.0177152732932726,"q_y":0.13023454824910033,"q_z":0.011646137408670558},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:33.783] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08096001359308484,"y":-0.02480388218665793,"z":0.01590290469819424,"q_w":0.9912565253343636,"q_x":-0.0177152732932726,"q_y":0.13023454824910033,"q_z":0.011646137408670558},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:33.784] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:33.784] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:33.784] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:33.784] [INFO] edge(0) name:9999
[2026-09-13 11:40:33.784] [INFO] node(0) name:8888
[2026-09-13 11:40:33.784] [INFO] node(1) name:9999
[2026-09-13 11:40:33.784] [INFO] Thread is still running...
[2026-09-13 11:40:33.820] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:33.820] [INFO] edge(0) name:9999
[2026-09-13 11:40:33.820] [INFO] node(0) name:8888
[2026-09-13 11:40:33.820] [INFO] node(1) name:9999
[2026-09-13 11:40:33.820] [INFO] Start control:
[2026-09-13 11:40:33.820] [INFO] Use normal control
[2026-09-13 11:40:34.023] [INFO] Control end.
[2026-09-13 11:40:34.024] [INFO] Pub slam key info: {"type":"task_result","sec":1789270834,"nanosec":23970920,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:34.029] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:34.029] [INFO] To get pl status.
[2026-09-13 11:40:34.029] [INFO] Received pl status: {"type":"pos_info","sec":1789270834,"nanosec":29451937,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08777826378523428,"y":-0.02134710637012873,"z":0.016275916658216687,"q_w":0.991292924271338,"q_x":-0.01724886303928731,"q_y":0.12995560208241957,"q_z":0.012343277556123095},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:34.029] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08777826378523428,"y":-0.02134710637012873,"z":0.016275916658216687,"q_w":0.991292924271338,"q_x":-0.01724886303928731,"q_y":0.12995560208241955,"q_z":0.012343277556123095},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:34.029] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:34.029] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:34.029] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:34.030] [INFO] edge(0) name:9999
[2026-09-13 11:40:34.030] [INFO] node(0) name:8888
[2026-09-13 11:40:34.030] [INFO] node(1) name:9999
[2026-09-13 11:40:34.030] [INFO] Thread is still running...
[2026-09-13 11:40:34.051] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:34.051] [INFO] edge(0) name:9999
[2026-09-13 11:40:34.051] [INFO] node(0) name:8888
[2026-09-13 11:40:34.051] [INFO] node(1) name:9999
[2026-09-13 11:40:34.051] [INFO] Start control:
[2026-09-13 11:40:34.051] [INFO] Use normal control
[2026-09-13 11:40:34.255] [INFO] Control end.
[2026-09-13 11:40:34.255] [INFO] Pub slam key info: {"type":"task_result","sec":1789270834,"nanosec":255478496,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:34.256] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 1.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
}
[2026-09-13 11:40:34.256] [INFO] To get pl status.
[2026-09-13 11:40:34.256] [INFO] Received pl status: {"type":"pos_info","sec":1789270834,"nanosec":256827534,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08824426164278165,"y":-0.020784961944691142,"z":0.016724425759957567,"q_w":0.9913618919657677,"q_x":-0.016913536831253,"q_y":0.1294287978799485,"q_z":0.012795222126368948},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:34.256] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":1.0,"q_x":0.0,"q_y":0.0,"q_z":0.0,"x":0.0,"y":0.0,"z":0.0},"currentPose":{"x":-0.08824426164278165,"y":-0.020784961944691142,"z":0.016724425759957567,"q_w":0.9913618919657676,"q_x":-0.016913536831253,"q_y":0.1294287978799485,"q_z":0.012795222126368948},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:34.257] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:34.257] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:34.257] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:34.257] [INFO] edge(0) name:9999
[2026-09-13 11:40:34.257] [INFO] node(0) name:8888
[2026-09-13 11:40:34.257] [INFO] node(1) name:9999
[2026-09-13 11:40:34.257] [INFO] Thread is still running...
[2026-09-13 11:40:34.275] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:34.276] [INFO] edge(0) name:9999
[2026-09-13 11:40:34.276] [INFO] node(0) name:8888
[2026-09-13 11:40:34.276] [INFO] node(1) name:9999
[2026-09-13 11:40:34.276] [INFO] Start control:
[2026-09-13 11:40:34.276] [INFO] Use normal control
[2026-09-13 11:40:34.479] [INFO] Control end.
[2026-09-13 11:40:34.479] [INFO] Pub slam key info: {"type":"task_result","sec":1789270834,"nanosec":479725252,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:40:34.484] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9907727241516113,
"q_x": -0.0024791662581264973,
"q_y": 0.13209699094295502,
"q_z": -0.030225884169340134,
"x": -0.9361488819122314,
"y": 0.3111284375190735,
"z": 0.01921854540705681
}
}
}
[2026-09-13 11:40:34.484] [INFO] To get pl status.
[2026-09-13 11:40:34.484] [INFO] Received pl status: {"type":"pos_info","sec":1789270834,"nanosec":484243836,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.08897817923405935,"y":-0.023508707735965077,"z":0.017249897795980153,"q_w":0.9916417525927915,"q_x":-0.015517575026463996,"q_y":0.127151029931171,"q_z":0.015441987159595705},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:34.484] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9907727241516112,"q_x":-0.0024791662581264973,"q_y":0.13209699094295502,"q_z":-0.030225884169340137,"x":-0.9361488819122314,"y":0.3111284375190735,"z":0.01921854540705681},"currentPose":{"x":-0.08897817923405935,"y":-0.023508707735965077,"z":0.017249897795980153,"q_w":0.9916417525927916,"q_x":-0.015517575026463996,"q_y":0.127151029931171,"q_z":0.015441987159595704},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:40:34.484] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:40:34.484] [INFO] Received graph response: slices size (1)
[2026-09-13 11:40:34.484] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:34.484] [INFO] edge(0) name:9999
[2026-09-13 11:40:34.484] [INFO] node(0) name:8888
[2026-09-13 11:40:34.484] [INFO] node(1) name:9999
[2026-09-13 11:40:34.484] [INFO] Thread is still running...
[2026-09-13 11:40:34.500] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:40:34.500] [INFO] edge(0) name:9999
[2026-09-13 11:40:34.500] [INFO] node(0) name:8888
[2026-09-13 11:40:34.500] [INFO] node(1) name:9999
[2026-09-13 11:40:34.500] [INFO] Start control:
[2026-09-13 11:40:34.500] [INFO] Use normal control
[2026-09-13 11:40:35.179] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7313 cpuTemp:63.9765 cpuMemory:33.6643 cpuFrequency:1510.4
[2026-09-13 11:40:35.501] [INFO] Thread is still running...
[2026-09-13 11:40:35.516] [INFO] Control end.
[2026-09-13 11:40:35.516] [INFO] Pub slam key info: {"type":"task_result","sec":1789270835,"nanosec":516716449,"errorCode":14,"info":"Task interrupted.","data":{"targetNodeName":9999,"is_arrived":false}}
[2026-09-13 11:40:36.525] [WARNING] Joystick operation intervention, stop navigation.
[2026-09-13 11:40:38.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.5143 cpuTemp:63.9997 cpuMemory:33.7486 cpuFrequency:1510.4
[2026-09-13 11:40:39.526] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:40:39.526] [INFO] To planner request: {"data": {}}
[2026-09-13 11:40:39.629] [INFO] Received planner response (0):
[2026-09-13 11:40:41.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.614 cpuTemp:63.9448 cpuMemory:33.7509 cpuFrequency:1510.4
[2026-09-13 11:40:44.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3061 cpuTemp:63.9372 cpuMemory:33.6845 cpuFrequency:1510.4
[2026-09-13 11:40:47.180] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4056 cpuTemp:63.9212 cpuMemory:33.7657 cpuFrequency:1510.4
[2026-09-13 11:40:50.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0028 cpuTemp:63.9605 cpuMemory:33.666 cpuFrequency:1510.4
[2026-09-13 11:40:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.7805 cpuTemp:64.023 cpuMemory:33.672 cpuFrequency:1510.4
[2026-09-13 11:40:56.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3023 cpuTemp:63.984 cpuMemory:33.6664 cpuFrequency:1510.4
[2026-09-13 11:40:59.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.3905 cpuTemp:64.031 cpuMemory:33.6702 cpuFrequency:1510.4
[2026-09-13 11:41:02.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.2486 cpuTemp:63.9215 cpuMemory:33.6676 cpuFrequency:1510.4
[2026-09-13 11:41:05.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.4625 cpuTemp:64.0462 cpuMemory:33.659 cpuFrequency:1510.4
[2026-09-13 11:41:08.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.3407 cpuTemp:63.9528 cpuMemory:33.6739 cpuFrequency:1510.4
[2026-09-13 11:41:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3789 cpuTemp:64.015 cpuMemory:33.6615 cpuFrequency:1510.4
[2026-09-13 11:41:14.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6123 cpuTemp:63.9685 cpuMemory:33.6719 cpuFrequency:1510.4
[2026-09-13 11:41:17.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7517 cpuTemp:63.9997 cpuMemory:33.6615 cpuFrequency:1510.4
[2026-09-13 11:41:20.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.1075 cpuTemp:64.0307 cpuMemory:33.7436 cpuFrequency:1510.4
[2026-09-13 11:41:23.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:82.9625 cpuTemp:63.9527 cpuMemory:33.7547 cpuFrequency:1510.4
[2026-09-13 11:41:26.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.5671 cpuTemp:63.9762 cpuMemory:33.7529 cpuFrequency:1510.4
[2026-09-13 11:41:29.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.943 cpuTemp:64.0542 cpuMemory:33.7025 cpuFrequency:1510.4
[2026-09-13 11:41:32.181] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.1003 cpuTemp:63.9685 cpuMemory:33.6726 cpuFrequency:1510.4
[2026-09-13 11:41:35.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.411 cpuTemp:64.0468 cpuMemory:33.6698 cpuFrequency:1510.4
[2026-09-13 11:41:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.0383 cpuTemp:63.9685 cpuMemory:33.674 cpuFrequency:1510.4
[2026-09-13 11:41:41.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.561 cpuTemp:64.0777 cpuMemory:33.6758 cpuFrequency:1510.4
[2026-09-13 11:41:44.190] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.5061 cpuTemp:64.1325 cpuMemory:33.7735 cpuFrequency:1510.4
[2026-09-13 11:41:47.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.9104 cpuTemp:64.0462 cpuMemory:33.6864 cpuFrequency:1510.4
[2026-09-13 11:41:49.736] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:41:49.736] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:41:49.736] [INFO] Thread is already completed.
[2026-09-13 11:41:49.736] [INFO] lidar_type = mid360
[2026-09-13 11:41:49.783] [INFO] Thread is already completed.
[2026-09-13 11:41:50.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.3347 cpuTemp:63.9993 cpuMemory:33.6884 cpuFrequency:1510.4
[2026-09-13 11:41:51.160] [INFO] ICP Score:0.00396137
[2026-09-13 11:41:51.194] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
[2026-09-13 11:41:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.8206 cpuTemp:63.9683 cpuMemory:33.7346 cpuFrequency:1510.4
[2026-09-13 11:41:56.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.0559 cpuTemp:64.0462 cpuMemory:33.7265 cpuFrequency:1510.4
[2026-09-13 11:41:59.181] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.1046 cpuTemp:63.976 cpuMemory:33.7164 cpuFrequency:1510.4
[2026-09-13 11:42:02.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.1934 cpuTemp:64.1402 cpuMemory:33.7182 cpuFrequency:1510.4
[2026-09-13 11:42:05.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.7158 cpuTemp:63.984 cpuMemory:33.7919 cpuFrequency:1510.4
[2026-09-13 11:42:08.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.4071 cpuTemp:64.0387 cpuMemory:33.8021 cpuFrequency:1510.4
[2026-09-13 11:42:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.5837 cpuTemp:64.0075 cpuMemory:33.7734 cpuFrequency:1510.4
[2026-09-13 11:42:14.178] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:96.8938 cpuTemp:64.0622 cpuMemory:33.7693 cpuFrequency:1510.4
[2026-09-13 11:42:17.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.1054 cpuTemp:63.9605 cpuMemory:33.7578 cpuFrequency:1510.4
[2026-09-13 11:42:20.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.679 cpuTemp:64.062 cpuMemory:33.7025 cpuFrequency:1510.4
[2026-09-13 11:42:23.180] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7799 cpuTemp:64.031 cpuMemory:33.7863 cpuFrequency:1510.4
[2026-09-13 11:42:26.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.9527 cpuTemp:63.953 cpuMemory:33.7036 cpuFrequency:1510.4
[2026-09-13 11:42:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2927 cpuTemp:64.031 cpuMemory:33.7512 cpuFrequency:1510.4
[2026-09-13 11:42:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.9967 cpuTemp:64.0387 cpuMemory:33.7529 cpuFrequency:1510.4
[2026-09-13 11:42:35.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.1972 cpuTemp:64.0855 cpuMemory:33.745 cpuFrequency:1510.4
[2026-09-13 11:42:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5509 cpuTemp:63.9995 cpuMemory:33.7448 cpuFrequency:1510.4
[2026-09-13 11:42:41.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.8841 cpuTemp:64.0935 cpuMemory:33.7446 cpuFrequency:1510.4
[2026-09-13 11:42:44.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.7654 cpuTemp:64.039 cpuMemory:33.7495 cpuFrequency:1510.4
[2026-09-13 11:42:47.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0491 cpuTemp:64.0387 cpuMemory:33.7044 cpuFrequency:1510.4
[2026-09-13 11:42:50.178] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.9745 cpuTemp:63.9917 cpuMemory:33.712 cpuFrequency:1510.4
[2026-09-13 11:42:53.178] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.1514 cpuTemp:64.1168 cpuMemory:33.7103 cpuFrequency:1510.4
[2026-09-13 11:42:56.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3667 cpuTemp:64.1012 cpuMemory:33.7834 cpuFrequency:1510.4
[2026-09-13 11:42:59.184] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.6916 cpuTemp:64.109 cpuMemory:33.7719 cpuFrequency:1510.4
[2026-09-13 11:43:02.185] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.2311 cpuTemp:64.0543 cpuMemory:33.7189 cpuFrequency:1510.4
[2026-09-13 11:43:05.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.8379 cpuTemp:64.0465 cpuMemory:33.741 cpuFrequency:1510.4
[2026-09-13 11:43:08.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.7573 cpuTemp:64.0545 cpuMemory:33.8233 cpuFrequency:1510.4
[2026-09-13 11:43:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.1631 cpuTemp:64.1718 cpuMemory:33.7533 cpuFrequency:1510.4
[2026-09-13 11:43:14.188] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.1613 cpuTemp:64.0778 cpuMemory:33.8211 cpuFrequency:1510.4
[2026-09-13 11:43:17.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6548 cpuTemp:64.1402 cpuMemory:33.7502 cpuFrequency:1510.4
[2026-09-13 11:43:20.175] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.7371 cpuTemp:64.1245 cpuMemory:33.7489 cpuFrequency:1510.4
[2026-09-13 11:43:23.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6655 cpuTemp:64.1167 cpuMemory:33.7346 cpuFrequency:1510.4
[2026-09-13 11:43:26.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.2809 cpuTemp:64.0932 cpuMemory:33.7398 cpuFrequency:1510.4
[2026-09-13 11:43:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2701 cpuTemp:64.0932 cpuMemory:33.7434 cpuFrequency:1510.4
[2026-09-13 11:43:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3043 cpuTemp:64.0542 cpuMemory:33.7777 cpuFrequency:1510.4
[2026-09-13 11:43:35.183] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.7382 cpuTemp:64.1478 cpuMemory:33.7806 cpuFrequency:1510.4
[2026-09-13 11:43:38.188] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.6703 cpuTemp:64.0857 cpuMemory:33.7127 cpuFrequency:1510.4
[2026-09-13 11:43:39.839] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:43:39.840] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:43:39.840] [INFO] Thread is already completed.
[2026-09-13 11:43:39.840] [INFO] lidar_type = mid360
[2026-09-13 11:43:39.879] [INFO] Thread is already completed.
[2026-09-13 11:43:41.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.0731 cpuTemp:64.0078 cpuMemory:33.8251 cpuFrequency:1510.4
[2026-09-13 11:43:41.215] [INFO] ICP Score:0.00415979
[2026-09-13 11:43:41.260] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
[2026-09-13 11:43:43.683] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:43:43.683] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:43:43.683] [INFO] Thread is still running...
[2026-09-13 11:43:43.748] [INFO] Thread is already completed.
[2026-09-13 11:43:43.749] [INFO] lidar_type = mid360
[2026-09-13 11:43:43.772] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:43:44.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.1005 cpuTemp:64.07 cpuMemory:33.767 cpuFrequency:1510.4
[2026-09-13 11:43:47.192] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3937 cpuTemp:64.062 cpuMemory:33.7232 cpuFrequency:1510.4
[2026-09-13 11:43:50.184] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.9052 cpuTemp:64.1718 cpuMemory:33.8049 cpuFrequency:1510.4
[2026-09-13 11:43:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.9871 cpuTemp:64.2105 cpuMemory:33.753 cpuFrequency:1510.4
[2026-09-13 11:43:56.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.801 cpuTemp:64.2105 cpuMemory:33.7519 cpuFrequency:1510.4
[2026-09-13 11:43:59.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.8336 cpuTemp:64.1795 cpuMemory:33.7292 cpuFrequency:1510.4
[2026-09-13 11:44:02.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.836 cpuTemp:64.1718 cpuMemory:33.74 cpuFrequency:1510.4
[2026-09-13 11:44:05.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.2556 cpuTemp:64.1482 cpuMemory:33.755 cpuFrequency:1510.4
[2026-09-13 11:44:08.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.6021 cpuTemp:64.2262 cpuMemory:33.762 cpuFrequency:1510.4
[2026-09-13 11:44:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.7637 cpuTemp:64.156 cpuMemory:33.8181 cpuFrequency:1510.4
[2026-09-13 11:44:14.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.4027 cpuTemp:64.1482 cpuMemory:33.8056 cpuFrequency:1510.4
[2026-09-13 11:44:17.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.646 cpuTemp:64.1325 cpuMemory:33.8917 cpuFrequency:1510.4
[2026-09-13 11:44:20.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7141 cpuTemp:64.2185 cpuMemory:33.8114 cpuFrequency:1510.4
[2026-09-13 11:44:23.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.7544 cpuTemp:64.1557 cpuMemory:33.8846 cpuFrequency:1510.4
[2026-09-13 11:44:26.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0985 cpuTemp:64.2418 cpuMemory:33.8211 cpuFrequency:1510.4
[2026-09-13 11:44:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.4546 cpuTemp:64.2812 cpuMemory:33.9291 cpuFrequency:1510.4
[2026-09-13 11:44:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3971 cpuTemp:64.226 cpuMemory:33.859 cpuFrequency:1510.4
[2026-09-13 11:44:35.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.1045 cpuTemp:64.2182 cpuMemory:33.8641 cpuFrequency:1510.4
[2026-09-13 11:44:38.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.4729 cpuTemp:64.281 cpuMemory:33.8493 cpuFrequency:1510.4
[2026-09-13 11:44:41.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.2971 cpuTemp:64.3197 cpuMemory:33.8754 cpuFrequency:1510.4
[2026-09-13 11:44:44.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.3759 cpuTemp:64.226 cpuMemory:33.8747 cpuFrequency:1510.4
[2026-09-13 11:44:46.172] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:44:46.172] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:44:46.174] [INFO] Thread is still running...
[2026-09-13 11:44:46.214] [INFO] lidar_type = mid360
[2026-09-13 11:44:46.259] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
[2026-09-13 11:44:53.175] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:44:53.175] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:44:53.175] [INFO] Thread is already completed.
[2026-09-13 11:44:53.175] [INFO] lidar_type = mid360
[2026-09-13 11:44:53.205] [INFO] Thread is already completed.
[2026-09-13 11:44:54.671] [INFO] ICP Score:0.00587222
[2026-09-13 11:44:54.704] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
[2026-09-13 11:44:56.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3397 cpuTemp:64.101 cpuMemory:33.7203 cpuFrequency:1510.4
[2026-09-13 11:44:59.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.786 cpuTemp:64.0465 cpuMemory:33.7215 cpuFrequency:1510.4
[2026-09-13 11:45:01.950] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:45:01.950] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:45:01.950] [INFO] Thread is already completed.
[2026-09-13 11:45:01.951] [INFO] lidar_type = mid360
[2026-09-13 11:45:01.974] [INFO] Thread is already completed.
[2026-09-13 11:45:03.309] [INFO] ICP Score:0.00533003
[2026-09-13 11:45:03.356] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
[2026-09-13 11:45:05.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.46 cpuTemp:64.0935 cpuMemory:33.6579 cpuFrequency:1510.4
[2026-09-13 11:45:08.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.916 cpuTemp:64.1167 cpuMemory:33.7777 cpuFrequency:1510.4
[2026-09-13 11:45:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2155 cpuTemp:64.14 cpuMemory:33.8351 cpuFrequency:1510.4
[2026-09-13 11:45:14.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.5533 cpuTemp:64.1093 cpuMemory:33.8508 cpuFrequency:1510.4
[2026-09-13 11:45:17.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.1369 cpuTemp:64.0932 cpuMemory:33.7943 cpuFrequency:1510.4
[2026-09-13 11:45:20.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.3945 cpuTemp:64.101 cpuMemory:33.7509 cpuFrequency:1510.4
[2026-09-13 11:45:23.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5119 cpuTemp:64.109 cpuMemory:33.7398 cpuFrequency:1510.4
[2026-09-13 11:45:26.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.7863 cpuTemp:64.1167 cpuMemory:33.7487 cpuFrequency:1510.4
[2026-09-13 11:45:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.6514 cpuTemp:64.2028 cpuMemory:33.7592 cpuFrequency:1510.4
[2026-09-13 11:45:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:97.0998 cpuTemp:64.1635 cpuMemory:33.753 cpuFrequency:1510.4
[2026-09-13 11:45:35.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.1212 cpuTemp:64.101 cpuMemory:33.754 cpuFrequency:1510.4
[2026-09-13 11:45:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.533 cpuTemp:64.1715 cpuMemory:33.7495 cpuFrequency:1510.4
[2026-09-13 11:45:41.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.8571 cpuTemp:64.1872 cpuMemory:33.7469 cpuFrequency:1510.4
[2026-09-13 11:45:44.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.2347 cpuTemp:64.187 cpuMemory:33.7512 cpuFrequency:1510.4
[2026-09-13 11:45:47.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.628 cpuTemp:64.1555 cpuMemory:33.696 cpuFrequency:1510.4
[2026-09-13 11:45:50.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.5795 cpuTemp:64.1245 cpuMemory:33.7307 cpuFrequency:1510.4
[2026-09-13 11:45:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.2921 cpuTemp:64.2025 cpuMemory:33.8185 cpuFrequency:1510.4
[2026-09-13 11:45:56.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.737 cpuTemp:64.1482 cpuMemory:33.7542 cpuFrequency:1510.4
[2026-09-13 11:45:59.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.6185 cpuTemp:64.1245 cpuMemory:33.8281 cpuFrequency:1510.4
[2026-09-13 11:46:02.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.51 cpuTemp:64.1405 cpuMemory:33.8112 cpuFrequency:1510.4
[2026-09-13 11:46:02.864] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9913278222084045,
"q_x": -0.002478076843544841,
"q_y": 0.12847214937210083,
"q_z": 0.027530523017048836,
"x": 2.1087806224823,
"y": -0.883734941482544,
"z": 0.037843622267246246
}
}
}
[2026-09-13 11:46:02.864] [INFO] To get pl status.
[2026-09-13 11:46:02.864] [INFO] Received pl status: {"type":"pos_info","sec":1789271162,"nanosec":864149908,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.21578853727480057,"y":-0.017237729708368184,"z":0.02318931745479559,"q_w":-0.9899327498078222,"q_x":0.013058834792628024,"q_y":-0.14009546016889748,"q_z":0.01535837660195394},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:02.864] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9913278222084044,"q_x":-0.002478076843544841,"q_y":0.12847214937210083,"q_z":0.027530523017048836,"x":2.1087806224823,"y":-0.883734941482544,"z":0.037843622267246246},"currentPose":{"x":-0.21578853727480057,"y":-0.017237729708368184,"z":0.02318931745479559,"q_w":-0.9899327498078222,"q_x":0.013058834792628024,"q_y":-0.14009546016889748,"q_z":0.01535837660195394},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:02.864] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:46:02.864] [INFO] Received graph response: slices size (1)
[2026-09-13 11:46:02.864] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:02.864] [INFO] edge(0) name:9999
[2026-09-13 11:46:02.864] [INFO] node(0) name:8888
[2026-09-13 11:46:02.864] [INFO] node(1) name:9999
[2026-09-13 11:46:02.869] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:02.869] [INFO] edge(0) name:9999
[2026-09-13 11:46:02.869] [INFO] node(0) name:8888
[2026-09-13 11:46:02.871] [INFO] node(1) name:9999
[2026-09-13 11:46:02.871] [INFO] Start control:
[2026-09-13 11:46:02.871] [INFO] Use normal control
[2026-09-13 11:46:05.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7998 cpuTemp:64.1322 cpuMemory:33.7536 cpuFrequency:1510.4
[2026-09-13 11:46:08.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.8845 cpuTemp:64.1715 cpuMemory:33.7411 cpuFrequency:1510.4
[2026-09-13 11:46:09.023] [INFO] Control end.
[2026-09-13 11:46:09.023] [INFO] Pub slam key info: {"type":"task_result","sec":1789271169,"nanosec":23533413,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:46:09.026] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7204151749610901,
"q_x": -0.09093709290027618,
"q_y": 0.09005041420459747,
"q_z": 0.6816328763961792,
"x": 3.1687591075897217,
"y": 0.6228572726249695,
"z": 0.03662211820483208
}
}
}
[2026-09-13 11:46:09.026] [INFO] To get pl status.
[2026-09-13 11:46:09.026] [INFO] Received pl status: {"type":"pos_info","sec":1789271169,"nanosec":26434310,"errorCode":0,"info":"","data":{"currentPose":{"x":2.0344763345170347,"y":-0.9130344227636394,"z":0.029400476023932233,"q_w":-0.9901948424156646,"q_x":-0.014286491429868571,"q_y":-0.13294040833738835,"q_z":-0.04045884386793613},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:09.026] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":2.0344763345170347,"y":-0.9130344227636394,"z":0.029400476023932233,"q_w":-0.9901948424156646,"q_x":-0.014286491429868571,"q_y":-0.13294040833738835,"q_z":-0.04045884386793613},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:09.026] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:46:09.026] [INFO] Received graph response: slices size (1)
[2026-09-13 11:46:09.026] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:09.026] [INFO] edge(0) name:9999
[2026-09-13 11:46:09.026] [INFO] node(0) name:8888
[2026-09-13 11:46:09.026] [INFO] node(1) name:9999
[2026-09-13 11:46:09.026] [INFO] Thread is still running...
[2026-09-13 11:46:09.052] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:09.052] [INFO] edge(0) name:9999
[2026-09-13 11:46:09.052] [INFO] node(0) name:8888
[2026-09-13 11:46:09.052] [INFO] node(1) name:9999
[2026-09-13 11:46:09.052] [INFO] Start control:
[2026-09-13 11:46:09.052] [INFO] Use normal control
[2026-09-13 11:46:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.9181 cpuTemp:64.148 cpuMemory:33.7388 cpuFrequency:1510.4
[2026-09-13 11:46:14.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.9046 cpuTemp:64.187 cpuMemory:33.6925 cpuFrequency:1510.4
[2026-09-13 11:46:16.918] [INFO] Control end.
[2026-09-13 11:46:16.918] [INFO] Pub slam key info: {"type":"task_result","sec":1789271176,"nanosec":918064309,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:46:16.919] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": -0.011749320663511753,
"q_x": -0.12321607768535614,
"q_y": -0.0014850877923890948,
"q_z": 0.9923092126846313,
"x": 0.8019377589225769,
"y": 0.4491591453552246,
"z": 0.018221020698547363
}
}
}
[2026-09-13 11:46:16.919] [INFO] To get pl status.
[2026-09-13 11:46:16.919] [INFO] Received pl status: {"type":"pos_info","sec":1789271176,"nanosec":919943381,"errorCode":0,"info":"","data":{"currentPose":{"x":3.1646104530436356,"y":0.5508864700479034,"z":0.022579279728307432,"q_w":-0.7517484804746989,"q_x":0.09639157931463978,"q_y":-0.09907612410653886,"q_z":-0.6447998194581295},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:16.920] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":-0.011749320663511751,"q_x":-0.12321607768535614,"q_y":-0.0014850877923890948,"q_z":0.9923092126846312,"x":0.8019377589225769,"y":0.4491591453552246,"z":0.018221020698547363},"currentPose":{"x":3.1646104530436356,"y":0.5508864700479034,"z":0.022579279728307432,"q_w":-0.7517484804746989,"q_x":0.09639157931463978,"q_y":-0.09907612410653886,"q_z":-0.6447998194581295},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:16.920] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:46:16.920] [INFO] Received graph response: slices size (1)
[2026-09-13 11:46:16.920] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:16.920] [INFO] edge(0) name:9999
[2026-09-13 11:46:16.920] [INFO] node(0) name:8888
[2026-09-13 11:46:16.920] [INFO] node(1) name:9999
[2026-09-13 11:46:16.920] [INFO] Thread is still running...
[2026-09-13 11:46:16.939] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:16.939] [INFO] edge(0) name:9999
[2026-09-13 11:46:16.939] [INFO] node(0) name:8888
[2026-09-13 11:46:16.939] [INFO] node(1) name:9999
[2026-09-13 11:46:16.939] [INFO] Start control:
[2026-09-13 11:46:16.939] [INFO] Use normal control
[2026-09-13 11:46:17.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6806 cpuTemp:64.1557 cpuMemory:33.7866 cpuFrequency:1510.4
[2026-09-13 11:46:20.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.9912 cpuTemp:64.2028 cpuMemory:33.7857 cpuFrequency:1510.4
[2026-09-13 11:46:23.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.536 cpuTemp:64.1715 cpuMemory:33.7812 cpuFrequency:1510.4
[2026-09-13 11:46:25.115] [INFO] Control end.
[2026-09-13 11:46:25.115] [INFO] Pub slam key info: {"type":"task_result","sec":1789271185,"nanosec":115759309,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:46:25.123] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7204151749610901,
"q_x": -0.09093709290027618,
"q_y": 0.09005041420459747,
"q_z": 0.6816328763961792,
"x": 3.1687591075897217,
"y": 0.6228572726249695,
"z": 0.03662211820483208
}
}
}
[2026-09-13 11:46:25.123] [INFO] To get pl status.
[2026-09-13 11:46:25.123] [INFO] Received pl status: {"type":"pos_info","sec":1789271185,"nanosec":123458577,"errorCode":0,"info":"","data":{"currentPose":{"x":0.8983531926396469,"y":0.4445331318788003,"z":-0.012091937487410423,"q_w":0.019796255322504966,"q_x":0.09799649156898871,"q_y":-0.0021664815454984425,"q_z":-0.9949874885007793},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:25.123] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":0.8983531926396469,"y":0.4445331318788003,"z":-0.012091937487410423,"q_w":0.01979625532250497,"q_x":0.09799649156898872,"q_y":-0.0021664815454984425,"q_z":-0.9949874885007792},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:25.123] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:46:25.124] [INFO] Received graph response: slices size (1)
[2026-09-13 11:46:25.124] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:25.124] [INFO] edge(0) name:9999
[2026-09-13 11:46:25.124] [INFO] node(0) name:8888
[2026-09-13 11:46:25.124] [INFO] node(1) name:9999
[2026-09-13 11:46:25.124] [INFO] Thread is still running...
[2026-09-13 11:46:25.147] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:25.147] [INFO] edge(0) name:9999
[2026-09-13 11:46:25.155] [INFO] node(0) name:8888
[2026-09-13 11:46:25.155] [INFO] node(1) name:9999
[2026-09-13 11:46:25.155] [INFO] Start control:
[2026-09-13 11:46:25.155] [INFO] Use normal control
[2026-09-13 11:46:26.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.8679 cpuTemp:64.1872 cpuMemory:33.7873 cpuFrequency:1510.4
[2026-09-13 11:46:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.12 cpuTemp:64.195 cpuMemory:33.7824 cpuFrequency:1510.4
[2026-09-13 11:46:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.2646 cpuTemp:64.148 cpuMemory:33.7769 cpuFrequency:1510.4
[2026-09-13 11:46:35.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.8079 cpuTemp:64.1792 cpuMemory:33.7836 cpuFrequency:1510.4
[2026-09-13 11:46:36.708] [INFO] Control end.
[2026-09-13 11:46:36.708] [INFO] Pub slam key info: {"type":"task_result","sec":1789271196,"nanosec":708716806,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:46:36.714] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9913278222084045,
"q_x": -0.002478076843544841,
"q_y": 0.12847214937210083,
"q_z": 0.027530523017048836,
"x": 2.1087806224823,
"y": -0.883734941482544,
"z": 0.037843622267246246
}
}
}
[2026-09-13 11:46:36.714] [INFO] To get pl status.
[2026-09-13 11:46:36.714] [INFO] Received pl status: {"type":"pos_info","sec":1789271196,"nanosec":714915511,"errorCode":0,"info":"","data":{"currentPose":{"x":3.1806544455173213,"y":0.6168262312436665,"z":0.023660714158844694,"q_w":-0.7310136635054335,"q_x":0.08563878702926196,"q_y":-0.11953524751970467,"q_z":-0.6663305084752795},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:36.714] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9913278222084044,"q_x":-0.002478076843544841,"q_y":0.12847214937210083,"q_z":0.027530523017048836,"x":2.1087806224823,"y":-0.883734941482544,"z":0.037843622267246246},"currentPose":{"x":3.1806544455173213,"y":0.6168262312436665,"z":0.023660714158844697,"q_w":-0.7310136635054335,"q_x":0.08563878702926196,"q_y":-0.11953524751970468,"q_z":-0.6663305084752795},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:36.715] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:46:36.715] [INFO] Received graph response: slices size (1)
[2026-09-13 11:46:36.715] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:36.715] [INFO] edge(0) name:9999
[2026-09-13 11:46:36.715] [INFO] node(0) name:8888
[2026-09-13 11:46:36.715] [INFO] node(1) name:9999
[2026-09-13 11:46:36.715] [INFO] Thread is still running...
[2026-09-13 11:46:36.735] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:36.735] [INFO] edge(0) name:9999
[2026-09-13 11:46:36.736] [INFO] node(0) name:8888
[2026-09-13 11:46:36.736] [INFO] node(1) name:9999
[2026-09-13 11:46:36.736] [INFO] Start control:
[2026-09-13 11:46:36.736] [INFO] Use normal control
[2026-09-13 11:46:38.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:85.242 cpuTemp:64.1167 cpuMemory:33.7933 cpuFrequency:1510.4
[2026-09-13 11:46:41.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5757 cpuTemp:64.234 cpuMemory:33.7815 cpuFrequency:1510.4
[2026-09-13 11:46:44.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0886 cpuTemp:64.1792 cpuMemory:33.8316 cpuFrequency:1510.4
[2026-09-13 11:46:47.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.0488 cpuTemp:64.2185 cpuMemory:33.8286 cpuFrequency:1510.4
[2026-09-13 11:46:49.644] [INFO] Control end.
[2026-09-13 11:46:49.644] [INFO] Pub slam key info: {"type":"task_result","sec":1789271209,"nanosec":644429402,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:46:49.647] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7204151749610901,
"q_x": -0.09093709290027618,
"q_y": 0.09005041420459747,
"q_z": 0.6816328763961792,
"x": 3.1687591075897217,
"y": 0.6228572726249695,
"z": 0.03662211820483208
}
}
}
[2026-09-13 11:46:49.647] [INFO] To get pl status.
[2026-09-13 11:46:49.647] [INFO] Received pl status: {"type":"pos_info","sec":1789271209,"nanosec":647245081,"errorCode":0,"info":"","data":{"currentPose":{"x":2.114599019663032,"y":-0.8827120629515939,"z":0.03395591789401218,"q_w":0.9929704762769875,"q_x":-0.013151953123884737,"q_y":0.11753819781800694,"q_z":-0.004629408706823035},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:49.647] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":2.114599019663032,"y":-0.8827120629515939,"z":0.03395591789401218,"q_w":0.9929704762769876,"q_x":-0.013151953123884737,"q_y":0.11753819781800694,"q_z":-0.004629408706823035},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:49.647] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:46:49.647] [INFO] Received graph response: slices size (1)
[2026-09-13 11:46:49.647] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:49.647] [INFO] edge(0) name:9999
[2026-09-13 11:46:49.647] [INFO] node(0) name:8888
[2026-09-13 11:46:49.647] [INFO] node(1) name:9999
[2026-09-13 11:46:49.647] [INFO] Thread is still running...
[2026-09-13 11:46:49.665] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:49.665] [INFO] edge(0) name:9999
[2026-09-13 11:46:49.665] [INFO] node(0) name:8888
[2026-09-13 11:46:49.665] [INFO] node(1) name:9999
[2026-09-13 11:46:49.666] [INFO] Start control:
[2026-09-13 11:46:49.666] [INFO] Use normal control
[2026-09-13 11:46:50.191] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.3801 cpuTemp:64.1402 cpuMemory:33.7667 cpuFrequency:1510.4
[2026-09-13 11:46:53.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.795 cpuTemp:64.1715 cpuMemory:33.7621 cpuFrequency:1510.4
[2026-09-13 11:46:56.181] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.9547 cpuTemp:64.187 cpuMemory:33.7554 cpuFrequency:1510.4
[2026-09-13 11:46:57.398] [INFO] Control end.
[2026-09-13 11:46:57.398] [INFO] Pub slam key info: {"type":"task_result","sec":1789271217,"nanosec":398209188,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:46:57.399] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": -0.011749320663511753,
"q_x": -0.12321607768535614,
"q_y": -0.0014850877923890948,
"q_z": 0.9923092126846313,
"x": 0.8019377589225769,
"y": 0.4491591453552246,
"z": 0.018221020698547363
}
}
}
[2026-09-13 11:46:57.399] [INFO] To get pl status.
[2026-09-13 11:46:57.399] [INFO] Received pl status: {"type":"pos_info","sec":1789271217,"nanosec":399935614,"errorCode":0,"info":"","data":{"currentPose":{"x":3.1473970321289007,"y":0.5355826565451955,"z":0.029400022976805208,"q_w":0.734237298154113,"q_x":-0.10292361254722865,"q_y":0.11236309884964936,"q_z":0.6615715033134967},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:57.399] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":-0.011749320663511751,"q_x":-0.12321607768535614,"q_y":-0.0014850877923890948,"q_z":0.9923092126846312,"x":0.8019377589225769,"y":0.4491591453552246,"z":0.018221020698547363},"currentPose":{"x":3.1473970321289007,"y":0.5355826565451955,"z":0.029400022976805208,"q_w":0.734237298154113,"q_x":-0.10292361254722864,"q_y":0.11236309884964936,"q_z":0.6615715033134967},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:46:57.400] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:46:57.400] [INFO] Received graph response: slices size (1)
[2026-09-13 11:46:57.400] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:57.400] [INFO] edge(0) name:9999
[2026-09-13 11:46:57.400] [INFO] node(0) name:8888
[2026-09-13 11:46:57.400] [INFO] node(1) name:9999
[2026-09-13 11:46:57.400] [INFO] Thread is still running...
[2026-09-13 11:46:57.425] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:46:57.425] [INFO] edge(0) name:9999
[2026-09-13 11:46:57.425] [INFO] node(0) name:8888
[2026-09-13 11:46:57.425] [INFO] node(1) name:9999
[2026-09-13 11:46:57.425] [INFO] Start control:
[2026-09-13 11:46:57.425] [INFO] Use normal control
[2026-09-13 11:46:59.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2517 cpuTemp:64.1325 cpuMemory:33.7508 cpuFrequency:1510.4
[2026-09-13 11:47:02.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.6621 cpuTemp:64.1557 cpuMemory:33.7494 cpuFrequency:1510.4
[2026-09-13 11:47:05.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.0584 cpuTemp:64.156 cpuMemory:33.7487 cpuFrequency:1510.4
[2026-09-13 11:47:05.878] [INFO] Control end.
[2026-09-13 11:47:05.878] [INFO] Pub slam key info: {"type":"task_result","sec":1789271225,"nanosec":878811256,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:47:05.887] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7204151749610901,
"q_x": -0.09093709290027618,
"q_y": 0.09005041420459747,
"q_z": 0.6816328763961792,
"x": 3.1687591075897217,
"y": 0.6228572726249695,
"z": 0.03662211820483208
}
}
}
[2026-09-13 11:47:05.887] [INFO] To get pl status.
[2026-09-13 11:47:05.887] [INFO] Received pl status: {"type":"pos_info","sec":1789271225,"nanosec":887513981,"errorCode":0,"info":"","data":{"currentPose":{"x":0.8963141074762232,"y":0.44170193451249,"z":-0.0019455244683403794,"q_w":-0.022224849997553867,"q_x":-0.1244220966834883,"q_y":-0.001864635681918308,"q_z":0.9919786898080245},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:47:05.887] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":0.8963141074762232,"y":0.44170193451249,"z":-0.0019455244683403792,"q_w":-0.022224849997553867,"q_x":-0.1244220966834883,"q_y":-0.001864635681918308,"q_z":0.9919786898080244},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:47:05.887] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:47:05.887] [INFO] Received graph response: slices size (1)
[2026-09-13 11:47:05.887] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:47:05.887] [INFO] edge(0) name:9999
[2026-09-13 11:47:05.887] [INFO] node(0) name:8888
[2026-09-13 11:47:05.887] [INFO] node(1) name:9999
[2026-09-13 11:47:05.887] [INFO] Thread is still running...
[2026-09-13 11:47:05.900] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:47:05.900] [INFO] edge(0) name:9999
[2026-09-13 11:47:05.900] [INFO] node(0) name:8888
[2026-09-13 11:47:05.900] [INFO] node(1) name:9999
[2026-09-13 11:47:05.900] [INFO] Start control:
[2026-09-13 11:47:05.900] [INFO] Use normal control
[2026-09-13 11:47:08.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.3916 cpuTemp:64.1718 cpuMemory:33.6997 cpuFrequency:1510.4
[2026-09-13 11:47:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.1041 cpuTemp:64.2418 cpuMemory:33.7469 cpuFrequency:1510.4
[2026-09-13 11:47:11.923] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:47:11.923] [INFO] To planner request: {"data": {}}
[2026-09-13 11:47:12.042] [INFO] Received planner response (0):
[2026-09-13 11:47:14.175] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.39 cpuTemp:64.2417 cpuMemory:33.7558 cpuFrequency:1510.4
[2026-09-13 11:47:17.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7621 cpuTemp:64.195 cpuMemory:33.7512 cpuFrequency:1510.4
[2026-09-13 11:47:20.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.3755 cpuTemp:64.1635 cpuMemory:33.7456 cpuFrequency:1510.4
[2026-09-13 11:47:20.730] [INFO] Thread is still running...
[2026-09-13 11:47:20.770] [INFO] Control end.
[2026-09-13 11:47:20.770] [INFO] Pub slam key info: {"type":"task_result","sec":1789271240,"nanosec":770081967,"errorCode":14,"info":"Task interrupted.","data":{"targetNodeName":9999,"is_arrived":false}}
[2026-09-13 11:47:21.745] [WARNING] Joystick operation intervention, stop navigation.
[2026-09-13 11:47:23.188] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.7276 cpuTemp:64.1245 cpuMemory:33.7471 cpuFrequency:1510.4
[2026-09-13 11:47:26.196] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.5588 cpuTemp:64.062 cpuMemory:33.751 cpuFrequency:1510.4
[2026-09-13 11:47:29.175] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.2582 cpuTemp:64.1483 cpuMemory:33.8366 cpuFrequency:1510.4
[2026-09-13 11:47:32.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2741 cpuTemp:64.1712 cpuMemory:33.8465 cpuFrequency:1510.4
[2026-09-13 11:47:35.175] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.8759 cpuTemp:64.07 cpuMemory:33.7828 cpuFrequency:1510.4
[2026-09-13 11:47:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.659 cpuTemp:64.0465 cpuMemory:33.7606 cpuFrequency:1510.4
[2026-09-13 11:47:41.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3655 cpuTemp:64.0858 cpuMemory:33.7655 cpuFrequency:1510.4
[2026-09-13 11:47:43.883] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": -0.011749320663511753,
"q_x": -0.12321607768535614,
"q_y": -0.0014850877923890948,
"q_z": 0.9923092126846313,
"x": 0.8019377589225769,
"y": 0.4491591453552246,
"z": 0.018221020698547363
}
}
}
[2026-09-13 11:47:43.883] [INFO] To get pl status.
[2026-09-13 11:47:43.883] [INFO] Received pl status: {"type":"pos_info","sec":1789271263,"nanosec":883297679,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.19547737208967658,"y":0.0010636035167277652,"z":0.024926682320290744,"q_w":0.9914081586131785,"q_x":-0.01479740611394131,"q_y":0.1277411219555748,"q_z":-0.02393962341092381},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:47:43.883] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":-0.011749320663511751,"q_x":-0.12321607768535614,"q_y":-0.0014850877923890948,"q_z":0.9923092126846312,"x":0.8019377589225769,"y":0.4491591453552246,"z":0.018221020698547363},"currentPose":{"x":-0.19547737208967655,"y":0.0010636035167277652,"z":0.024926682320290744,"q_w":0.9914081586131784,"q_x":-0.01479740611394131,"q_y":0.1277411219555748,"q_z":-0.02393962341092381},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:47:43.883] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:47:43.883] [INFO] Received graph response: slices size (1)
[2026-09-13 11:47:43.883] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:47:43.883] [INFO] edge(0) name:9999
[2026-09-13 11:47:43.883] [INFO] node(0) name:8888
[2026-09-13 11:47:43.883] [INFO] node(1) name:9999
[2026-09-13 11:47:43.883] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:47:43.883] [INFO] edge(0) name:9999
[2026-09-13 11:47:43.883] [INFO] node(0) name:8888
[2026-09-13 11:47:43.883] [INFO] node(1) name:9999
[2026-09-13 11:47:43.883] [INFO] Start control:
[2026-09-13 11:47:43.883] [INFO] Use normal control
[2026-09-13 11:47:44.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.4485 cpuTemp:64.0775 cpuMemory:33.7491 cpuFrequency:1510.4
[2026-09-13 11:47:47.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.4003 cpuTemp:64.0307 cpuMemory:33.7533 cpuFrequency:1510.4
[2026-09-13 11:47:50.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.1374 cpuTemp:64.0622 cpuMemory:33.7472 cpuFrequency:1510.4
[2026-09-13 11:47:51.697] [INFO] Control end.
[2026-09-13 11:47:51.697] [INFO] Pub slam key info: {"type":"task_result","sec":1789271271,"nanosec":697875098,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:47:51.700] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7204151749610901,
"q_x": -0.09093709290027618,
"q_y": 0.09005041420459747,
"q_z": 0.6816328763961792,
"x": 3.1687591075897217,
"y": 0.6228572726249695,
"z": 0.03662211820483208
}
}
}
[2026-09-13 11:47:51.700] [INFO] To get pl status.
[2026-09-13 11:47:51.700] [INFO] Received pl status: {"type":"pos_info","sec":1789271271,"nanosec":700534356,"errorCode":0,"info":"","data":{"currentPose":{"x":0.8008392856540393,"y":0.4677846210540567,"z":0.011296653458017546,"q_w":-0.011426725058539857,"q_x":-0.13608841765143415,"q_y":0.008350432175662057,"q_z":0.990595600039716},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:47:51.700] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":0.8008392856540393,"y":0.4677846210540567,"z":0.011296653458017546,"q_w":-0.011426725058539856,"q_x":-0.13608841765143417,"q_y":0.008350432175662057,"q_z":0.990595600039716},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:47:51.700] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:47:51.700] [INFO] Received graph response: slices size (1)
[2026-09-13 11:47:51.700] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:47:51.700] [INFO] edge(0) name:9999
[2026-09-13 11:47:51.700] [INFO] node(0) name:8888
[2026-09-13 11:47:51.700] [INFO] node(1) name:9999
[2026-09-13 11:47:51.700] [INFO] Thread is still running...
[2026-09-13 11:47:51.735] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:47:51.735] [INFO] edge(0) name:9999
[2026-09-13 11:47:51.735] [INFO] node(0) name:8888
[2026-09-13 11:47:51.735] [INFO] node(1) name:9999
[2026-09-13 11:47:51.735] [INFO] Start control:
[2026-09-13 11:47:51.735] [INFO] Use normal control
[2026-09-13 11:47:53.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6688 cpuTemp:64.0468 cpuMemory:33.7409 cpuFrequency:1510.4
[2026-09-13 11:47:56.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0421 cpuTemp:64.1635 cpuMemory:33.7517 cpuFrequency:1510.4
[2026-09-13 11:47:59.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.9036 cpuTemp:64.117 cpuMemory:33.7408 cpuFrequency:1510.4
[2026-09-13 11:48:02.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.2259 cpuTemp:64.0778 cpuMemory:33.6826 cpuFrequency:1510.4
[2026-09-13 11:48:05.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.4291 cpuTemp:64.1557 cpuMemory:33.7168 cpuFrequency:1510.4
[2026-09-13 11:48:06.909] [INFO] Control end.
[2026-09-13 11:48:06.909] [INFO] Pub slam key info: {"type":"task_result","sec":1789271286,"nanosec":909221426,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:48:06.914] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.9913278222084045,
"q_x": -0.002478076843544841,
"q_y": 0.12847214937210083,
"q_z": 0.027530523017048836,
"x": 2.1087806224823,
"y": -0.883734941482544,
"z": 0.037843622267246246
}
}
}
[2026-09-13 11:48:06.914] [INFO] To get pl status.
[2026-09-13 11:48:06.914] [INFO] Received pl status: {"type":"pos_info","sec":1789271286,"nanosec":914288925,"errorCode":0,"info":"","data":{"currentPose":{"x":3.191651116323826,"y":0.5970652326885763,"z":0.02337166656854691,"q_w":0.7177856300748762,"q_x":-0.13825438574518167,"q_y":0.0846400136183754,"q_z":0.6771304026366832},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:48:06.914] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.9913278222084044,"q_x":-0.002478076843544841,"q_y":0.12847214937210083,"q_z":0.027530523017048836,"x":2.1087806224823,"y":-0.883734941482544,"z":0.037843622267246246},"currentPose":{"x":3.191651116323826,"y":0.5970652326885763,"z":0.02337166656854691,"q_w":0.7177856300748762,"q_x":-0.13825438574518167,"q_y":0.0846400136183754,"q_z":0.6771304026366832},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:48:06.914] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:48:06.914] [INFO] Received graph response: slices size (1)
[2026-09-13 11:48:06.914] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:48:06.915] [INFO] edge(0) name:9999
[2026-09-13 11:48:06.915] [INFO] node(0) name:8888
[2026-09-13 11:48:06.915] [INFO] node(1) name:9999
[2026-09-13 11:48:06.915] [INFO] Thread is still running...
[2026-09-13 11:48:06.939] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:48:06.939] [INFO] edge(0) name:9999
[2026-09-13 11:48:06.939] [INFO] node(0) name:8888
[2026-09-13 11:48:06.939] [INFO] node(1) name:9999
[2026-09-13 11:48:06.939] [INFO] Start control:
[2026-09-13 11:48:06.939] [INFO] Use normal control
[2026-09-13 11:48:08.184] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.9482 cpuTemp:64.1167 cpuMemory:33.7247 cpuFrequency:1510.4
[2026-09-13 11:48:11.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.7651 cpuTemp:64.023 cpuMemory:33.8076 cpuFrequency:1510.4
[2026-09-13 11:48:14.175] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.1723 cpuTemp:64.1557 cpuMemory:33.7236 cpuFrequency:1510.4
[2026-09-13 11:48:17.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.3519 cpuTemp:64.0777 cpuMemory:33.7976 cpuFrequency:1510.4
[2026-09-13 11:48:20.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.0433 cpuTemp:64.1247 cpuMemory:33.7959 cpuFrequency:1510.4
[2026-09-13 11:48:23.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3164 cpuTemp:64.0775 cpuMemory:33.7317 cpuFrequency:1510.4
[2026-09-13 11:48:26.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.5541 cpuTemp:64.195 cpuMemory:33.7236 cpuFrequency:1510.4
[2026-09-13 11:48:27.185] [INFO] Control end.
[2026-09-13 11:48:27.185] [INFO] Pub slam key info: {"type":"task_result","sec":1789271307,"nanosec":185034206,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:48:27.189] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7204151749610901,
"q_x": -0.09093709290027618,
"q_y": 0.09005041420459747,
"q_z": 0.6816328763961792,
"x": 3.1687591075897217,
"y": 0.6228572726249695,
"z": 0.03662211820483208
}
}
}
[2026-09-13 11:48:27.189] [INFO] To get pl status.
[2026-09-13 11:48:27.189] [INFO] Received pl status: {"type":"pos_info","sec":1789271307,"nanosec":189108039,"errorCode":0,"info":"","data":{"currentPose":{"x":2.0912348120402733,"y":-0.8955556369817597,"z":0.03848559332754217,"q_w":-0.9898626570630991,"q_x":0.01056506144303219,"q_y":-0.13993519612915223,"q_z":0.021873283086506812},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:48:27.189] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":2.0912348120402733,"y":-0.8955556369817597,"z":0.03848559332754217,"q_w":-0.9898626570630992,"q_x":0.01056506144303219,"q_y":-0.13993519612915223,"q_z":0.021873283086506812},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:48:27.189] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:48:27.190] [INFO] Received graph response: slices size (1)
[2026-09-13 11:48:27.190] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:48:27.190] [INFO] edge(0) name:9999
[2026-09-13 11:48:27.190] [INFO] node(0) name:8888
[2026-09-13 11:48:27.190] [INFO] node(1) name:9999
[2026-09-13 11:48:27.190] [INFO] Thread is still running...
[2026-09-13 11:48:27.211] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:48:27.211] [INFO] edge(0) name:9999
[2026-09-13 11:48:27.211] [INFO] node(0) name:8888
[2026-09-13 11:48:27.211] [INFO] node(1) name:9999
[2026-09-13 11:48:27.211] [INFO] Start control:
[2026-09-13 11:48:27.211] [INFO] Use normal control
[2026-09-13 11:48:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.0573 cpuTemp:64.0465 cpuMemory:33.5903 cpuFrequency:1510.4
[2026-09-13 11:48:32.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.492 cpuTemp:64.14 cpuMemory:33.6856 cpuFrequency:1510.4
[2026-09-13 11:48:34.751] [INFO] Control end.
[2026-09-13 11:48:34.751] [INFO] Pub slam key info: {"type":"task_result","sec":1789271314,"nanosec":751810731,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:48:34.755] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": -0.011749320663511753,
"q_x": -0.12321607768535614,
"q_y": -0.0014850877923890948,
"q_z": 0.9923092126846313,
"x": 0.8019377589225769,
"y": 0.4491591453552246,
"z": 0.018221020698547363
}
}
}
[2026-09-13 11:48:34.755] [INFO] To get pl status.
[2026-09-13 11:48:34.755] [INFO] Received pl status: {"type":"pos_info","sec":1789271314,"nanosec":755444645,"errorCode":0,"info":"","data":{"currentPose":{"x":3.1531359537789547,"y":0.5664056389905202,"z":0.02482689271079214,"q_w":-0.728886607138273,"q_x":0.09654679606475416,"q_y":-0.08909456717117359,"q_z":-0.6719115925511847},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:48:34.755] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":-0.011749320663511751,"q_x":-0.12321607768535614,"q_y":-0.0014850877923890948,"q_z":0.9923092126846312,"x":0.8019377589225769,"y":0.4491591453552246,"z":0.018221020698547363},"currentPose":{"x":3.1531359537789547,"y":0.5664056389905202,"z":0.02482689271079214,"q_w":-0.728886607138273,"q_x":0.09654679606475416,"q_y":-0.08909456717117359,"q_z":-0.6719115925511847},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:48:34.755] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:48:34.755] [INFO] Received graph response: slices size (1)
[2026-09-13 11:48:34.755] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:48:34.755] [INFO] edge(0) name:9999
[2026-09-13 11:48:34.755] [INFO] node(0) name:8888
[2026-09-13 11:48:34.755] [INFO] node(1) name:9999
[2026-09-13 11:48:34.758] [INFO] Thread is still running...
[2026-09-13 11:48:34.772] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:48:34.772] [INFO] edge(0) name:9999
[2026-09-13 11:48:34.773] [INFO] node(0) name:8888
[2026-09-13 11:48:34.773] [INFO] node(1) name:9999
[2026-09-13 11:48:34.773] [INFO] Start control:
[2026-09-13 11:48:34.774] [INFO] Use normal control
[2026-09-13 11:48:35.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.7135 cpuTemp:64.0697 cpuMemory:33.6815 cpuFrequency:1510.4
[2026-09-13 11:48:38.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.182 cpuTemp:64.1168 cpuMemory:31.6427 cpuFrequency:1510.4
[2026-09-13 11:48:41.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.5083 cpuTemp:64.1402 cpuMemory:32.2791 cpuFrequency:1510.4
[2026-09-13 11:48:42.542] [INFO] Control end.
[2026-09-13 11:48:42.543] [INFO] Pub slam key info: {"type":"task_result","sec":1789271322,"nanosec":542954144,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:48:42.548] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7204151749610901,
"q_x": -0.09093709290027618,
"q_y": 0.09005041420459747,
"q_z": 0.6816328763961792,
"x": 3.1687591075897217,
"y": 0.6228572726249695,
"z": 0.03662211820483208
}
}
}
[2026-09-13 11:48:42.548] [INFO] To get pl status.
[2026-09-13 11:48:42.548] [INFO] Received pl status: {"type":"pos_info","sec":1789271322,"nanosec":548681313,"errorCode":0,"info":"","data":{"currentPose":{"x":0.8911073604431096,"y":0.4563262122854837,"z":0.0010766721781485815,"q_w":0.025240206782210707,"q_x":0.10692824893070012,"q_y":0.0009016195241612447,"q_z":-0.9939459082990578},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:48:42.548] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7204151749610901,"q_x":-0.09093709290027618,"q_y":0.09005041420459747,"q_z":0.6816328763961792,"x":3.1687591075897217,"y":0.6228572726249695,"z":0.03662211820483208},"currentPose":{"x":0.8911073604431096,"y":0.4563262122854837,"z":0.0010766721781485817,"q_w":0.025240206782210707,"q_x":0.10692824893070012,"q_y":0.0009016195241612448,"q_z":-0.9939459082990578},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:48:42.548] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:48:42.549] [INFO] Received graph response: slices size (1)
[2026-09-13 11:48:42.549] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:48:42.549] [INFO] edge(0) name:9999
[2026-09-13 11:48:42.549] [INFO] node(0) name:8888
[2026-09-13 11:48:42.549] [INFO] node(1) name:9999
[2026-09-13 11:48:42.549] [INFO] Thread is still running...
[2026-09-13 11:48:42.569] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:48:42.570] [INFO] edge(0) name:9999
[2026-09-13 11:48:42.570] [INFO] node(0) name:8888
[2026-09-13 11:48:42.570] [INFO] node(1) name:9999
[2026-09-13 11:48:42.570] [INFO] Start control:
[2026-09-13 11:48:42.570] [INFO] Use normal control
[2026-09-13 11:48:44.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.0041 cpuTemp:64.062 cpuMemory:32.5404 cpuFrequency:1510.4
[2026-09-13 11:48:46.913] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:48:46.914] [INFO] To planner request: {"data": {}}
[2026-09-13 11:48:47.017] [INFO] Received planner response (0):
[2026-09-13 11:48:47.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7658 cpuTemp:64.1322 cpuMemory:33.0575 cpuFrequency:1510.4
[2026-09-13 11:48:50.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:93.5495 cpuTemp:64.1245 cpuMemory:33.6457 cpuFrequency:1510.4
[2026-09-13 11:48:53.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6145 cpuTemp:64.0622 cpuMemory:33.7499 cpuFrequency:1510.4
[2026-09-13 11:48:56.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.0443 cpuTemp:64.1012 cpuMemory:33.7042 cpuFrequency:1510.4
[2026-09-13 11:48:59.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.7826 cpuTemp:64.148 cpuMemory:33.6907 cpuFrequency:1510.4
[2026-09-13 11:49:02.178] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:95.4877 cpuTemp:64.0778 cpuMemory:33.7733 cpuFrequency:1510.4
[2026-09-13 11:49:05.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.5709 cpuTemp:64.109 cpuMemory:33.7689 cpuFrequency:1510.4
[2026-09-13 11:49:08.185] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:94.2566 cpuTemp:64.054 cpuMemory:33.7213 cpuFrequency:1510.4
[2026-09-13 11:49:11.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.0882 cpuTemp:64.1167 cpuMemory:33.71 cpuFrequency:1510.4
[2026-09-13 11:49:14.180] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:91.3693 cpuTemp:64.0932 cpuMemory:33.7026 cpuFrequency:1510.4
[2026-09-13 11:49:17.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.8717 cpuTemp:64.156 cpuMemory:33.7068 cpuFrequency:1510.4
[2026-09-13 11:49:20.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.1392 cpuTemp:64.1247 cpuMemory:33.7139 cpuFrequency:1510.4
[2026-09-13 11:49:23.176] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:89.339 cpuTemp:64.101 cpuMemory:33.6706 cpuFrequency:1510.4
[2026-09-13 11:49:26.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5427 cpuTemp:64.0703 cpuMemory:33.7357 cpuFrequency:1510.4
[2026-09-13 11:49:29.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.6325 cpuTemp:64.2185 cpuMemory:33.741 cpuFrequency:1510.4
[2026-09-13 11:49:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:86.5882 cpuTemp:64.1012 cpuMemory:33.7525 cpuFrequency:1510.4
[2026-09-13 11:49:35.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:84.7267 cpuTemp:64.1715 cpuMemory:33.7487 cpuFrequency:1510.4
[2026-09-13 11:49:38.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:88.2101 cpuTemp:64.0542 cpuMemory:33.7553 cpuFrequency:1510.4
[2026-09-13 11:49:41.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.3489 cpuTemp:64.0778 cpuMemory:33.759 cpuFrequency:1510.4
[2026-09-13 11:49:43.235] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:49:43.235] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:49:43.236] [INFO] Thread is still running...
[2026-09-13 11:49:43.341] [INFO] Thread is already completed.
[2026-09-13 11:49:43.341] [INFO] lidar_type = mid360
[2026-09-13 11:49:43.360] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:49:44.177] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:87.3451 cpuTemp:64.0855 cpuMemory:33.2107 cpuFrequency:1510.4
[2026-09-13 11:49:47.174] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:90.5019 cpuTemp:64.1093 cpuMemory:33.4527 cpuFrequency:1510.4
[2026-09-13 11:49:50.173] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:92.1428 cpuTemp:64.1718 cpuMemory:33.5915 cpuFrequency:1510.4
[2026-09-13 11:50:10.345] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:50:10.345] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:50:10.345] [INFO] Thread is already completed.
[2026-09-13 11:50:10.372] [INFO] Thread is already completed.
[2026-09-13 11:50:10.372] [INFO] lidar_type = mid360
[2026-09-13 11:50:10.390] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:50:15.571] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:50:15.571] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:50:15.572] [INFO] Thread is still running...
[2026-09-13 11:50:15.581] [INFO] lidar_type = mid360
[2026-09-13 11:50:15.607] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
[2026-09-13 11:52:06.064] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:52:06.064] [INFO] To planner request: {"data": {}}
[2026-09-13 11:52:06.064] [WARNING] Received planner response (1):
[2026-09-13 11:52:08.393] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:52:08.393] [INFO] To planner request: {"data": {}}
[2026-09-13 11:52:08.393] [WARNING] Received planner response (1):
[2026-09-13 11:52:47.578] [INFO] Received request. apiId:1801 fun:start mapping (PL). parameter:{"data": {"slam_type": "indoor"}}
[2026-09-13 11:52:47.578] [INFO] To pl mapping request: {"data": {"slam_type": "indoor"}}
[2026-09-13 11:52:47.578] [INFO] Thread is already completed.
[2026-09-13 11:52:47.595] [INFO] Thread is already completed.
[2026-09-13 11:52:47.595] [INFO] lidar_type = mid360
[2026-09-13 11:52:47.611] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Successfully started mapping.","data":{}}
[2026-09-13 11:52:48.470] [INFO] Thread is still running...
[2026-09-13 11:52:48.513] [INFO] Control end.
[2026-09-13 11:52:48.513] [INFO] Pub slam key info: {"type":"task_result","sec":1789271568,"nanosec":513496897,"errorCode":14,"info":"Task interrupted.","data":{"targetNodeName":9999,"is_arrived":false}}
[2026-09-13 11:52:49.484] [WARNING] Joystick operation intervention, stop navigation.
[2026-09-13 11:53:32.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:82.7148 cpuTemp:63.0075 cpuMemory:32.7628 cpuFrequency:1510.4
[2026-09-13 11:53:56.884] [INFO] Received request. apiId:1802 fun:end mapping (PL). parameter:{"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:53:56.884] [INFO] To pl mapping request: {"data": {"address": "/home/unitree/test.pcd"}}
[2026-09-13 11:53:56.889] [INFO] Thread is still running...
[2026-09-13 11:53:56.901] [INFO] lidar_type = mid360
[2026-09-13 11:53:56.922] [INFO] Received pl mapping response (0): {"succeed":true,"errorCode":0,"info":"Save pcd successfully.","data":{}}
[2026-09-13 11:54:57.813] [INFO] Received request. apiId:1804 fun:start relocation (PL). parameter:{
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:54:57.813] [INFO] To pl relocation request: {
"data": {
"x": 0.0,
"y": 0.0,
"z": 0.0,
"q_x": 0.0,
"q_y": 0.0,
"q_z": 0.0,
"q_w": 1.0,
"address": "/home/unitree/test.pcd"
}
}
[2026-09-13 11:54:57.813] [INFO] Thread is already completed.
[2026-09-13 11:54:57.814] [INFO] lidar_type = mid360
[2026-09-13 11:54:57.831] [INFO] Thread is already completed.
[2026-09-13 11:54:59.110] [INFO] ICP Score:0.00645038
[2026-09-13 11:54:59.145] [INFO] Received pl relocation response (0): {"succeed":true,"errorCode":0,"info":"Successfully started relocation.","data":{}}
[2026-09-13 11:56:31.945] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.5925834774971008,
"q_x": 0.10273826122283936,
"q_y": 0.07856744527816772,
"q_z": -0.7950577735900879,
"x": 3.0314509868621826,
"y": -0.06574512273073196,
"z": 0.03193258121609688
}
}
}
[2026-09-13 11:56:31.945] [INFO] To get pl status.
[2026-09-13 11:56:31.945] [INFO] Received pl status: {"type":"pos_info","sec":1789271791,"nanosec":945871922,"errorCode":0,"info":"","data":{"currentPose":{"x":-0.26939092585065266,"y":-0.019858526965166892,"z":0.014193946291276962,"q_w":-0.9904427949778655,"q_x":0.016564338097044252,"q_y":-0.13636639855984772,"q_z":-0.012365189996828766},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:56:31.945] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.5925834774971008,"q_x":0.10273826122283936,"q_y":0.07856744527816772,"q_z":-0.7950577735900879,"x":3.0314509868621826,"y":-0.06574512273073196,"z":0.03193258121609688},"currentPose":{"x":-0.26939092585065266,"y":-0.019858526965166892,"z":0.014193946291276962,"q_w":-0.9904427949778656,"q_x":0.016564338097044252,"q_y":-0.13636639855984772,"q_z":-0.012365189996828766},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:56:31.946] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:56:31.946] [INFO] Received graph response: slices size (1)
[2026-09-13 11:56:31.946] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:56:31.946] [INFO] edge(0) name:9999
[2026-09-13 11:56:31.946] [INFO] node(0) name:8888
[2026-09-13 11:56:31.946] [INFO] node(1) name:9999
[2026-09-13 11:56:31.946] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:56:31.946] [INFO] edge(0) name:9999
[2026-09-13 11:56:31.946] [INFO] node(0) name:8888
[2026-09-13 11:56:31.946] [INFO] node(1) name:9999
[2026-09-13 11:56:31.946] [INFO] Start control:
[2026-09-13 11:56:31.946] [INFO] Use normal control
[2026-09-13 11:56:40.000] [INFO] Control end.
[2026-09-13 11:56:40.000] [INFO] Pub slam key info: {"type":"task_result","sec":1789271800,"nanosec":35909,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:56:40.006] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:56:40.006] [INFO] To get pl status.
[2026-09-13 11:56:40.006] [INFO] Received pl status: {"type":"pos_info","sec":1789271800,"nanosec":6204757,"errorCode":0,"info":"","data":{"currentPose":{"x":3.0462951292942684,"y":-0.07794671511819744,"z":0.028895049341126827,"q_w":-0.6444892396258524,"q_x":-0.09910866285423048,"q_y":-0.08022783456987323,"q_z":0.7539062193097802},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:56:40.006] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":3.0462951292942684,"y":-0.07794671511819744,"z":0.028895049341126827,"q_w":-0.6444892396258524,"q_x":-0.09910866285423048,"q_y":-0.08022783456987323,"q_z":0.7539062193097802},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:56:40.006] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:56:40.006] [INFO] Received graph response: slices size (1)
[2026-09-13 11:56:40.006] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:56:40.006] [INFO] edge(0) name:9999
[2026-09-13 11:56:40.006] [INFO] node(0) name:8888
[2026-09-13 11:56:40.006] [INFO] node(1) name:9999
[2026-09-13 11:56:40.006] [INFO] Thread is still running...
[2026-09-13 11:56:40.020] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:56:40.020] [INFO] edge(0) name:9999
[2026-09-13 11:56:40.020] [INFO] node(0) name:8888
[2026-09-13 11:56:40.020] [INFO] node(1) name:9999
[2026-09-13 11:56:40.020] [INFO] Start control:
[2026-09-13 11:56:40.020] [INFO] Use normal control
[2026-09-13 11:56:46.932] [INFO] Control end.
[2026-09-13 11:56:46.933] [INFO] Pub slam key info: {"type":"task_result","sec":1789271806,"nanosec":932974246,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:56:46.938] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.01345145795494318,
"q_x": -0.12388316541910172,
"q_y": -0.015833882614970207,
"q_z": 0.9920792579650879,
"x": 0.33480212092399597,
"y": 0.48303020000457764,
"z": 0.0013591377064585686
}
}
}
[2026-09-13 11:56:46.938] [INFO] To get pl status.
[2026-09-13 11:56:46.938] [INFO] Received pl status: {"type":"pos_info","sec":1789271806,"nanosec":938470495,"errorCode":0,"info":"","data":{"currentPose":{"x":2.2534102764647344,"y":0.42349755391745886,"z":0.011997943834735353,"q_w":0.7034107418537656,"q_x":-0.10616163122928267,"q_y":0.08752919835329055,"q_z":0.6973389962816531},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:56:46.938] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.01345145795494318,"q_x":-0.12388316541910172,"q_y":-0.015833882614970207,"q_z":0.992079257965088,"x":0.33480212092399597,"y":0.4830302000045776,"z":0.0013591377064585686},"currentPose":{"x":2.2534102764647344,"y":0.42349755391745886,"z":0.011997943834735353,"q_w":0.7034107418537656,"q_x":-0.10616163122928268,"q_y":0.08752919835329055,"q_z":0.6973389962816531},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:56:46.938] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:56:46.938] [INFO] Received graph response: slices size (1)
[2026-09-13 11:56:46.938] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:56:46.938] [INFO] edge(0) name:9999
[2026-09-13 11:56:46.938] [INFO] node(0) name:8888
[2026-09-13 11:56:46.938] [INFO] node(1) name:9999
[2026-09-13 11:56:46.938] [INFO] Thread is still running...
[2026-09-13 11:56:46.953] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:56:46.953] [INFO] edge(0) name:9999
[2026-09-13 11:56:46.953] [INFO] node(0) name:8888
[2026-09-13 11:56:46.953] [INFO] node(1) name:9999
[2026-09-13 11:56:46.953] [INFO] Start control:
[2026-09-13 11:56:46.953] [INFO] Use normal control
[2026-09-13 11:56:53.874] [INFO] Control end.
[2026-09-13 11:56:53.874] [INFO] Pub slam key info: {"type":"task_result","sec":1789271813,"nanosec":874215934,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:56:53.880] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:56:53.880] [INFO] To get pl status.
[2026-09-13 11:56:53.880] [INFO] Received pl status: {"type":"pos_info","sec":1789271813,"nanosec":880690424,"errorCode":0,"info":"","data":{"currentPose":{"x":0.42351497956504763,"y":0.478499888639679,"z":-0.00945160490058828,"q_w":0.00733459556300681,"q_x":-0.10148526000823624,"q_y":-0.000651091386302888,"q_z":0.9948097917637293},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:56:53.880] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":0.4235149795650476,"y":0.478499888639679,"z":-0.00945160490058828,"q_w":0.00733459556300681,"q_x":-0.10148526000823624,"q_y":-0.000651091386302888,"q_z":0.9948097917637292},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:56:53.880] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:56:53.881] [INFO] Received graph response: slices size (1)
[2026-09-13 11:56:53.881] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:56:53.881] [INFO] edge(0) name:9999
[2026-09-13 11:56:53.881] [INFO] node(0) name:8888
[2026-09-13 11:56:53.881] [INFO] node(1) name:9999
[2026-09-13 11:56:53.881] [INFO] Thread is still running...
[2026-09-13 11:56:53.897] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:56:53.897] [INFO] edge(0) name:9999
[2026-09-13 11:56:53.897] [INFO] node(0) name:8888
[2026-09-13 11:56:53.897] [INFO] node(1) name:9999
[2026-09-13 11:56:53.897] [INFO] Start control:
[2026-09-13 11:56:53.897] [INFO] Use normal control
[2026-09-13 11:57:03.929] [INFO] Control end.
[2026-09-13 11:57:03.929] [INFO] Pub slam key info: {"type":"task_result","sec":1789271823,"nanosec":929583991,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:57:03.934] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.5925834774971008,
"q_x": 0.10273826122283936,
"q_y": 0.07856744527816772,
"q_z": -0.7950577735900879,
"x": 3.0314509868621826,
"y": -0.06574512273073196,
"z": 0.03193258121609688
}
}
}
[2026-09-13 11:57:03.934] [INFO] To get pl status.
[2026-09-13 11:57:03.934] [INFO] Received pl status: {"type":"pos_info","sec":1789271823,"nanosec":934597024,"errorCode":0,"info":"","data":{"currentPose":{"x":2.2793455196372454,"y":0.40247574679060594,"z":0.010932501344926399,"q_w":-0.7552904046103702,"q_x":0.09838010942924208,"q_y":-0.08580576598418836,"q_z":-0.6422578370841887},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:03.934] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.5925834774971008,"q_x":0.10273826122283936,"q_y":0.07856744527816772,"q_z":-0.7950577735900879,"x":3.0314509868621826,"y":-0.06574512273073196,"z":0.03193258121609688},"currentPose":{"x":2.2793455196372454,"y":0.40247574679060594,"z":0.0109325013449264,"q_w":-0.7552904046103702,"q_x":0.09838010942924208,"q_y":-0.08580576598418836,"q_z":-0.6422578370841887},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:03.934] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:57:03.934] [INFO] Received graph response: slices size (1)
[2026-09-13 11:57:03.934] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:03.934] [INFO] edge(0) name:9999
[2026-09-13 11:57:03.934] [INFO] node(0) name:8888
[2026-09-13 11:57:03.934] [INFO] node(1) name:9999
[2026-09-13 11:57:03.934] [INFO] Thread is still running...
[2026-09-13 11:57:03.950] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:03.950] [INFO] edge(0) name:9999
[2026-09-13 11:57:03.950] [INFO] node(0) name:8888
[2026-09-13 11:57:03.950] [INFO] node(1) name:9999
[2026-09-13 11:57:03.950] [INFO] Start control:
[2026-09-13 11:57:03.950] [INFO] Use normal control
[2026-09-13 11:57:10.969] [INFO] Control end.
[2026-09-13 11:57:10.969] [INFO] Pub slam key info: {"type":"task_result","sec":1789271830,"nanosec":969859896,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:57:10.971] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:57:10.971] [INFO] To get pl status.
[2026-09-13 11:57:10.971] [INFO] Received pl status: {"type":"pos_info","sec":1789271830,"nanosec":971949311,"errorCode":0,"info":"","data":{"currentPose":{"x":3.0370824216260766,"y":-0.06951297497291738,"z":0.03157528375362673,"q_w":-0.6334947380112905,"q_x":-0.07756642922185368,"q_y":-0.07976305753300669,"q_z":0.7657060275476248},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:10.972] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":3.037082421626077,"y":-0.06951297497291738,"z":0.03157528375362673,"q_w":-0.6334947380112905,"q_x":-0.07756642922185368,"q_y":-0.07976305753300669,"q_z":0.7657060275476248},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:10.972] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:57:10.972] [INFO] Received graph response: slices size (1)
[2026-09-13 11:57:10.972] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:10.972] [INFO] edge(0) name:9999
[2026-09-13 11:57:10.972] [INFO] node(0) name:8888
[2026-09-13 11:57:10.972] [INFO] node(1) name:9999
[2026-09-13 11:57:10.972] [INFO] Thread is still running...
[2026-09-13 11:57:10.993] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:10.993] [INFO] edge(0) name:9999
[2026-09-13 11:57:10.993] [INFO] node(0) name:8888
[2026-09-13 11:57:10.993] [INFO] node(1) name:9999
[2026-09-13 11:57:10.993] [INFO] Start control:
[2026-09-13 11:57:10.993] [INFO] Use normal control
[2026-09-13 11:57:17.821] [INFO] Control end.
[2026-09-13 11:57:17.822] [INFO] Pub slam key info: {"type":"task_result","sec":1789271837,"nanosec":822013335,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:57:17.825] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.01345145795494318,
"q_x": -0.12388316541910172,
"q_y": -0.015833882614970207,
"q_z": 0.9920792579650879,
"x": 0.33480212092399597,
"y": 0.48303020000457764,
"z": 0.0013591377064585686
}
}
}
[2026-09-13 11:57:17.825] [INFO] To get pl status.
[2026-09-13 11:57:17.825] [INFO] Received pl status: {"type":"pos_info","sec":1789271837,"nanosec":825900538,"errorCode":0,"info":"","data":{"currentPose":{"x":2.2572633344260806,"y":0.41572752915354383,"z":0.016650052622450492,"q_w":0.7148640161221523,"q_x":-0.12355092442348212,"q_y":0.07004417092961399,"q_z":0.6846885581390953},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:17.825] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.01345145795494318,"q_x":-0.12388316541910172,"q_y":-0.015833882614970207,"q_z":0.992079257965088,"x":0.33480212092399597,"y":0.4830302000045776,"z":0.0013591377064585686},"currentPose":{"x":2.2572633344260806,"y":0.41572752915354383,"z":0.016650052622450492,"q_w":0.7148640161221523,"q_x":-0.12355092442348212,"q_y":0.07004417092961399,"q_z":0.6846885581390953},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:17.826] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:57:17.826] [INFO] Received graph response: slices size (1)
[2026-09-13 11:57:17.826] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:17.826] [INFO] edge(0) name:9999
[2026-09-13 11:57:17.826] [INFO] node(0) name:8888
[2026-09-13 11:57:17.826] [INFO] node(1) name:9999
[2026-09-13 11:57:17.826] [INFO] Thread is still running...
[2026-09-13 11:57:17.842] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:17.842] [INFO] edge(0) name:9999
[2026-09-13 11:57:17.842] [INFO] node(0) name:8888
[2026-09-13 11:57:17.842] [INFO] node(1) name:9999
[2026-09-13 11:57:17.842] [INFO] Start control:
[2026-09-13 11:57:17.842] [INFO] Use normal control
[2026-09-13 11:57:24.664] [INFO] Control end.
[2026-09-13 11:57:24.664] [INFO] Pub slam key info: {"type":"task_result","sec":1789271844,"nanosec":664728087,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:57:24.666] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:57:24.666] [INFO] To get pl status.
[2026-09-13 11:57:24.666] [INFO] Received pl status: {"type":"pos_info","sec":1789271844,"nanosec":666496467,"errorCode":0,"info":"","data":{"currentPose":{"x":0.41732062964454825,"y":0.4819153836862773,"z":-0.008109053185151035,"q_w":0.005347775198969988,"q_x":-0.10510214947460646,"q_y":-0.0014851890191066464,"q_z":0.9944459430707214},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:24.666] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":0.41732062964454825,"y":0.4819153836862773,"z":-0.008109053185151035,"q_w":0.005347775198969988,"q_x":-0.10510214947460646,"q_y":-0.0014851890191066464,"q_z":0.9944459430707214},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:24.666] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:57:24.666] [INFO] Received graph response: slices size (1)
[2026-09-13 11:57:24.666] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:24.666] [INFO] edge(0) name:9999
[2026-09-13 11:57:24.666] [INFO] node(0) name:8888
[2026-09-13 11:57:24.667] [INFO] node(1) name:9999
[2026-09-13 11:57:24.667] [INFO] Thread is still running...
[2026-09-13 11:57:24.685] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:24.685] [INFO] edge(0) name:9999
[2026-09-13 11:57:24.685] [INFO] node(0) name:8888
[2026-09-13 11:57:24.685] [INFO] node(1) name:9999
[2026-09-13 11:57:24.685] [INFO] Start control:
[2026-09-13 11:57:24.685] [INFO] Use normal control
[2026-09-13 11:57:35.019] [INFO] Control end.
[2026-09-13 11:57:35.019] [INFO] Pub slam key info: {"type":"task_result","sec":1789271855,"nanosec":19029833,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:57:35.022] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.5925834774971008,
"q_x": 0.10273826122283936,
"q_y": 0.07856744527816772,
"q_z": -0.7950577735900879,
"x": 3.0314509868621826,
"y": -0.06574512273073196,
"z": 0.03193258121609688
}
}
}
[2026-09-13 11:57:35.022] [INFO] To get pl status.
[2026-09-13 11:57:35.022] [INFO] Received pl status: {"type":"pos_info","sec":1789271855,"nanosec":22493341,"errorCode":0,"info":"","data":{"currentPose":{"x":2.2888262627077407,"y":0.40221623417636293,"z":0.008827383625232804,"q_w":-0.7467493004655172,"q_x":0.11573308185393305,"q_y":-0.08930490029728592,"q_z":-0.6488420229930729},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:35.022] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.5925834774971008,"q_x":0.10273826122283936,"q_y":0.07856744527816772,"q_z":-0.7950577735900879,"x":3.0314509868621826,"y":-0.06574512273073196,"z":0.03193258121609688},"currentPose":{"x":2.2888262627077407,"y":0.402216234176363,"z":0.008827383625232804,"q_w":-0.7467493004655172,"q_x":0.11573308185393304,"q_y":-0.08930490029728592,"q_z":-0.6488420229930729},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:35.022] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:57:35.022] [INFO] Received graph response: slices size (1)
[2026-09-13 11:57:35.022] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:35.022] [INFO] edge(0) name:9999
[2026-09-13 11:57:35.022] [INFO] node(0) name:8888
[2026-09-13 11:57:35.022] [INFO] node(1) name:9999
[2026-09-13 11:57:35.022] [INFO] Thread is still running...
[2026-09-13 11:57:35.047] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:35.047] [INFO] edge(0) name:9999
[2026-09-13 11:57:35.047] [INFO] node(0) name:8888
[2026-09-13 11:57:35.047] [INFO] node(1) name:9999
[2026-09-13 11:57:35.047] [INFO] Start control:
[2026-09-13 11:57:35.047] [INFO] Use normal control
[2026-09-13 11:57:35.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:80.5472 cpuTemp:62.851 cpuMemory:33.0723 cpuFrequency:1510.4
[2026-09-13 11:57:42.162] [INFO] Control end.
[2026-09-13 11:57:42.162] [INFO] Pub slam key info: {"type":"task_result","sec":1789271862,"nanosec":162835178,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:57:42.165] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:57:42.165] [INFO] To get pl status.
[2026-09-13 11:57:42.165] [INFO] Received pl status: {"type":"pos_info","sec":1789271862,"nanosec":165821455,"errorCode":0,"info":"","data":{"currentPose":{"x":3.0310680098111003,"y":-0.06531011706418606,"z":0.017836523059280546,"q_w":-0.6134076686338608,"q_x":-0.10227957716931378,"q_y":-0.07538975582378593,"q_z":0.779478226041028},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:42.166] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":3.0310680098111003,"y":-0.06531011706418606,"z":0.017836523059280546,"q_w":-0.6134076686338608,"q_x":-0.10227957716931378,"q_y":-0.07538975582378593,"q_z":0.779478226041028},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:42.166] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:57:42.166] [INFO] Received graph response: slices size (1)
[2026-09-13 11:57:42.166] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:42.166] [INFO] edge(0) name:9999
[2026-09-13 11:57:42.166] [INFO] node(0) name:8888
[2026-09-13 11:57:42.166] [INFO] node(1) name:9999
[2026-09-13 11:57:42.166] [INFO] Thread is still running...
[2026-09-13 11:57:42.186] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:42.186] [INFO] edge(0) name:9999
[2026-09-13 11:57:42.186] [INFO] node(0) name:8888
[2026-09-13 11:57:42.186] [INFO] node(1) name:9999
[2026-09-13 11:57:42.186] [INFO] Start control:
[2026-09-13 11:57:42.186] [INFO] Use normal control
[2026-09-13 11:57:48.799] [INFO] Control end.
[2026-09-13 11:57:48.800] [INFO] Pub slam key info: {"type":"task_result","sec":1789271868,"nanosec":799904698,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:57:48.801] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.01345145795494318,
"q_x": -0.12388316541910172,
"q_y": -0.015833882614970207,
"q_z": 0.9920792579650879,
"x": 0.33480212092399597,
"y": 0.48303020000457764,
"z": 0.0013591377064585686
}
}
}
[2026-09-13 11:57:48.801] [INFO] To get pl status.
[2026-09-13 11:57:48.801] [INFO] Received pl status: {"type":"pos_info","sec":1789271868,"nanosec":801557137,"errorCode":0,"info":"","data":{"currentPose":{"x":2.250559000005381,"y":0.4095781329225048,"z":0.013872252459021352,"q_w":0.6974999729027949,"q_x":-0.1040366597784431,"q_y":0.07717595482910487,"q_z":0.7047794216767123},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:48.801] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.01345145795494318,"q_x":-0.12388316541910172,"q_y":-0.015833882614970207,"q_z":0.992079257965088,"x":0.33480212092399597,"y":0.4830302000045776,"z":0.0013591377064585686},"currentPose":{"x":2.250559000005381,"y":0.4095781329225048,"z":0.013872252459021352,"q_w":0.6974999729027949,"q_x":-0.1040366597784431,"q_y":0.07717595482910487,"q_z":0.7047794216767123},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:48.801] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:57:48.801] [INFO] Received graph response: slices size (1)
[2026-09-13 11:57:48.801] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:48.801] [INFO] edge(0) name:9999
[2026-09-13 11:57:48.801] [INFO] node(0) name:8888
[2026-09-13 11:57:48.801] [INFO] node(1) name:9999
[2026-09-13 11:57:48.801] [INFO] Thread is still running...
[2026-09-13 11:57:48.820] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:48.820] [INFO] edge(0) name:9999
[2026-09-13 11:57:48.820] [INFO] node(0) name:8888
[2026-09-13 11:57:48.820] [INFO] node(1) name:9999
[2026-09-13 11:57:48.820] [INFO] Start control:
[2026-09-13 11:57:48.820] [INFO] Use normal control
[2026-09-13 11:57:55.650] [INFO] Control end.
[2026-09-13 11:57:55.650] [INFO] Pub slam key info: {"type":"task_result","sec":1789271875,"nanosec":650178425,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:57:55.653] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:57:55.653] [INFO] To get pl status.
[2026-09-13 11:57:55.653] [INFO] Received pl status: {"type":"pos_info","sec":1789271875,"nanosec":653909431,"errorCode":0,"info":"","data":{"currentPose":{"x":0.41834631804361755,"y":0.48015278330405736,"z":-0.0004938149600488407,"q_w":0.002066063324023199,"q_x":-0.11084681858260492,"q_y":0.002033958994178139,"q_z":0.9938332743490058},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:55.653] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":0.4183463180436175,"y":0.48015278330405736,"z":-0.0004938149600488407,"q_w":0.002066063324023199,"q_x":-0.11084681858260492,"q_y":0.002033958994178139,"q_z":0.9938332743490058},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:57:55.654] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:57:55.654] [INFO] Received graph response: slices size (1)
[2026-09-13 11:57:55.654] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:55.654] [INFO] edge(0) name:9999
[2026-09-13 11:57:55.654] [INFO] node(0) name:8888
[2026-09-13 11:57:55.654] [INFO] node(1) name:9999
[2026-09-13 11:57:55.654] [INFO] Thread is still running...
[2026-09-13 11:57:55.674] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:57:55.674] [INFO] edge(0) name:9999
[2026-09-13 11:57:55.674] [INFO] node(0) name:8888
[2026-09-13 11:57:55.674] [INFO] node(1) name:9999
[2026-09-13 11:57:55.674] [INFO] Start control:
[2026-09-13 11:57:55.674] [INFO] Use normal control
[2026-09-13 11:58:05.607] [INFO] Control end.
[2026-09-13 11:58:05.607] [INFO] Pub slam key info: {"type":"task_result","sec":1789271885,"nanosec":607213600,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:58:05.607] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.5925834774971008,
"q_x": 0.10273826122283936,
"q_y": 0.07856744527816772,
"q_z": -0.7950577735900879,
"x": 3.0314509868621826,
"y": -0.06574512273073196,
"z": 0.03193258121609688
}
}
}
[2026-09-13 11:58:05.607] [INFO] To get pl status.
[2026-09-13 11:58:05.607] [INFO] Received pl status: {"type":"pos_info","sec":1789271885,"nanosec":607940505,"errorCode":0,"info":"","data":{"currentPose":{"x":2.280134277562828,"y":0.4072824372172443,"z":0.013655371786319804,"q_w":-0.7639035810316245,"q_x":0.08832552779740269,"q_y":-0.08888675631957284,"q_z":-0.6330474425960154},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:05.608] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.5925834774971008,"q_x":0.10273826122283936,"q_y":0.07856744527816772,"q_z":-0.7950577735900879,"x":3.0314509868621826,"y":-0.06574512273073196,"z":0.03193258121609688},"currentPose":{"x":2.280134277562828,"y":0.4072824372172443,"z":0.013655371786319804,"q_w":-0.7639035810316245,"q_x":0.08832552779740269,"q_y":-0.08888675631957284,"q_z":-0.6330474425960154},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:05.608] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:58:05.608] [INFO] Received graph response: slices size (1)
[2026-09-13 11:58:05.608] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:05.608] [INFO] edge(0) name:9999
[2026-09-13 11:58:05.608] [INFO] node(0) name:8888
[2026-09-13 11:58:05.608] [INFO] node(1) name:9999
[2026-09-13 11:58:05.608] [INFO] Thread is still running...
[2026-09-13 11:58:05.627] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:05.627] [INFO] edge(0) name:9999
[2026-09-13 11:58:05.627] [INFO] node(0) name:8888
[2026-09-13 11:58:05.627] [INFO] node(1) name:9999
[2026-09-13 11:58:05.627] [INFO] Start control:
[2026-09-13 11:58:05.627] [INFO] Use normal control
[2026-09-13 11:58:05.918] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:58:05.918] [INFO] To planner request: {"data": {}}
[2026-09-13 11:58:06.029] [INFO] Received planner response (0):
[2026-09-13 11:58:09.543] [INFO] Received request. apiId:1202 fun:restore nav. parameter:{"data": {}}
[2026-09-13 11:58:09.543] [INFO] To planner request: {"data": {}}
[2026-09-13 11:58:09.543] [INFO] Received planner response (0):
[2026-09-13 11:58:16.343] [INFO] Control end.
[2026-09-13 11:58:16.344] [INFO] Pub slam key info: {"type":"task_result","sec":1789271896,"nanosec":343917830,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:58:16.345] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:58:16.345] [INFO] To get pl status.
[2026-09-13 11:58:16.345] [INFO] Received pl status: {"type":"pos_info","sec":1789271896,"nanosec":345530557,"errorCode":0,"info":"","data":{"currentPose":{"x":3.042839164122627,"y":-0.07716474610040623,"z":0.02987418646414836,"q_w":-0.6335053396878056,"q_x":-0.0771465154724501,"q_y":-0.09724360141736627,"q_z":0.7637166239652491},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:16.345] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":3.042839164122627,"y":-0.07716474610040623,"z":0.02987418646414836,"q_w":-0.6335053396878056,"q_x":-0.0771465154724501,"q_y":-0.09724360141736628,"q_z":0.7637166239652491},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:16.345] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:58:16.345] [INFO] Received graph response: slices size (1)
[2026-09-13 11:58:16.345] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:16.345] [INFO] edge(0) name:9999
[2026-09-13 11:58:16.345] [INFO] node(0) name:8888
[2026-09-13 11:58:16.345] [INFO] node(1) name:9999
[2026-09-13 11:58:16.345] [INFO] Thread is still running...
[2026-09-13 11:58:16.364] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:16.364] [INFO] edge(0) name:9999
[2026-09-13 11:58:16.364] [INFO] node(0) name:8888
[2026-09-13 11:58:16.364] [INFO] node(1) name:9999
[2026-09-13 11:58:16.364] [INFO] Start control:
[2026-09-13 11:58:16.364] [INFO] Use normal control
[2026-09-13 11:58:23.076] [INFO] Control end.
[2026-09-13 11:58:23.076] [INFO] Pub slam key info: {"type":"task_result","sec":1789271903,"nanosec":76239167,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:58:23.078] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.01345145795494318,
"q_x": -0.12388316541910172,
"q_y": -0.015833882614970207,
"q_z": 0.9920792579650879,
"x": 0.33480212092399597,
"y": 0.48303020000457764,
"z": 0.0013591377064585686
}
}
}
[2026-09-13 11:58:23.078] [INFO] To get pl status.
[2026-09-13 11:58:23.078] [INFO] Received pl status: {"type":"pos_info","sec":1789271903,"nanosec":78628016,"errorCode":0,"info":"","data":{"currentPose":{"x":2.251618739577758,"y":0.40236886316622467,"z":0.014312413084668676,"q_w":0.6902695413472653,"q_x":-0.10204879782042137,"q_y":0.07788868897789461,"q_z":0.7120725772566638},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:23.078] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.01345145795494318,"q_x":-0.12388316541910172,"q_y":-0.015833882614970207,"q_z":0.992079257965088,"x":0.33480212092399597,"y":0.4830302000045776,"z":0.0013591377064585686},"currentPose":{"x":2.251618739577758,"y":0.40236886316622467,"z":0.014312413084668676,"q_w":0.6902695413472653,"q_x":-0.10204879782042137,"q_y":0.07788868897789461,"q_z":0.7120725772566638},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:23.078] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:58:23.078] [INFO] Received graph response: slices size (1)
[2026-09-13 11:58:23.078] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:23.078] [INFO] edge(0) name:9999
[2026-09-13 11:58:23.078] [INFO] node(0) name:8888
[2026-09-13 11:58:23.078] [INFO] node(1) name:9999
[2026-09-13 11:58:23.078] [INFO] Thread is still running...
[2026-09-13 11:58:23.097] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:23.097] [INFO] edge(0) name:9999
[2026-09-13 11:58:23.097] [INFO] node(0) name:8888
[2026-09-13 11:58:23.097] [INFO] node(1) name:9999
[2026-09-13 11:58:23.097] [INFO] Start control:
[2026-09-13 11:58:23.097] [INFO] Use normal control
[2026-09-13 11:58:29.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:81.4991 cpuTemp:62.8278 cpuMemory:33.0582 cpuFrequency:1510.4
[2026-09-13 11:58:30.326] [INFO] Control end.
[2026-09-13 11:58:30.326] [INFO] Pub slam key info: {"type":"task_result","sec":1789271910,"nanosec":326721483,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:58:30.332] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:58:30.332] [INFO] To get pl status.
[2026-09-13 11:58:30.332] [INFO] Received pl status: {"type":"pos_info","sec":1789271910,"nanosec":332237541,"errorCode":0,"info":"","data":{"currentPose":{"x":0.4300859628260485,"y":0.47240688619575744,"z":-0.026908214522937776,"q_w":0.0037692021375174663,"q_x":-0.08496492546752263,"q_y":-0.00575154575263844,"q_z":0.9963602131142132},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:30.332] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":0.4300859628260485,"y":0.47240688619575744,"z":-0.026908214522937776,"q_w":0.0037692021375174663,"q_x":-0.08496492546752263,"q_y":-0.00575154575263844,"q_z":0.9963602131142132},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:30.332] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:58:30.332] [INFO] Received graph response: slices size (1)
[2026-09-13 11:58:30.332] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:30.332] [INFO] edge(0) name:9999
[2026-09-13 11:58:30.332] [INFO] node(0) name:8888
[2026-09-13 11:58:30.332] [INFO] node(1) name:9999
[2026-09-13 11:58:30.332] [INFO] Thread is still running...
[2026-09-13 11:58:30.347] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:30.347] [INFO] edge(0) name:9999
[2026-09-13 11:58:30.347] [INFO] node(0) name:8888
[2026-09-13 11:58:30.347] [INFO] node(1) name:9999
[2026-09-13 11:58:30.347] [INFO] Start control:
[2026-09-13 11:58:30.347] [INFO] Use normal control
[2026-09-13 11:58:40.079] [INFO] Control end.
[2026-09-13 11:58:40.079] [INFO] Pub slam key info: {"type":"task_result","sec":1789271920,"nanosec":79616308,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:58:40.084] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.5925834774971008,
"q_x": 0.10273826122283936,
"q_y": 0.07856744527816772,
"q_z": -0.7950577735900879,
"x": 3.0314509868621826,
"y": -0.06574512273073196,
"z": 0.03193258121609688
}
}
}
[2026-09-13 11:58:40.084] [INFO] To get pl status.
[2026-09-13 11:58:40.085] [INFO] Received pl status: {"type":"pos_info","sec":1789271920,"nanosec":84992458,"errorCode":0,"info":"","data":{"currentPose":{"x":2.2737160998640435,"y":0.4002139822705928,"z":0.012440296886488065,"q_w":-0.7642601144884655,"q_x":0.09933194990555119,"q_y":-0.08672370738732327,"q_z":-0.6312833276010359},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:40.085] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.5925834774971008,"q_x":0.10273826122283936,"q_y":0.07856744527816772,"q_z":-0.7950577735900879,"x":3.0314509868621826,"y":-0.06574512273073196,"z":0.03193258121609688},"currentPose":{"x":2.2737160998640435,"y":0.4002139822705928,"z":0.012440296886488064,"q_w":-0.7642601144884655,"q_x":0.0993319499055512,"q_y":-0.08672370738732327,"q_z":-0.6312833276010359},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:40.085] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:58:40.085] [INFO] Received graph response: slices size (1)
[2026-09-13 11:58:40.085] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:40.085] [INFO] edge(0) name:9999
[2026-09-13 11:58:40.085] [INFO] node(0) name:8888
[2026-09-13 11:58:40.085] [INFO] node(1) name:9999
[2026-09-13 11:58:40.085] [INFO] Thread is still running...
[2026-09-13 11:58:40.100] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:40.100] [INFO] edge(0) name:9999
[2026-09-13 11:58:40.100] [INFO] node(0) name:8888
[2026-09-13 11:58:40.100] [INFO] node(1) name:9999
[2026-09-13 11:58:40.100] [INFO] Start control:
[2026-09-13 11:58:40.100] [INFO] Use normal control
[2026-09-13 11:58:47.128] [INFO] Control end.
[2026-09-13 11:58:47.128] [INFO] Pub slam key info: {"type":"task_result","sec":1789271927,"nanosec":128053481,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:58:47.132] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:58:47.132] [INFO] To get pl status.
[2026-09-13 11:58:47.132] [INFO] Received pl status: {"type":"pos_info","sec":1789271927,"nanosec":132675972,"errorCode":0,"info":"","data":{"currentPose":{"x":3.0316391907330793,"y":-0.0719925332528773,"z":0.01984802353157315,"q_w":-0.624131633086446,"q_x":-0.07769881462581636,"q_y":-0.0916269580862011,"q_z":0.7720279135746704},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:47.132] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":3.0316391907330793,"y":-0.0719925332528773,"z":0.01984802353157315,"q_w":-0.624131633086446,"q_x":-0.07769881462581636,"q_y":-0.0916269580862011,"q_z":0.7720279135746704},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:47.132] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:58:47.132] [INFO] Received graph response: slices size (1)
[2026-09-13 11:58:47.132] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:47.135] [INFO] edge(0) name:9999
[2026-09-13 11:58:47.135] [INFO] node(0) name:8888
[2026-09-13 11:58:47.135] [INFO] node(1) name:9999
[2026-09-13 11:58:47.135] [INFO] Thread is still running...
[2026-09-13 11:58:47.148] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:47.148] [INFO] edge(0) name:9999
[2026-09-13 11:58:47.148] [INFO] node(0) name:8888
[2026-09-13 11:58:47.148] [INFO] node(1) name:9999
[2026-09-13 11:58:47.148] [INFO] Start control:
[2026-09-13 11:58:47.148] [INFO] Use normal control
[2026-09-13 11:58:53.862] [INFO] Control end.
[2026-09-13 11:58:53.862] [INFO] Pub slam key info: {"type":"task_result","sec":1789271933,"nanosec":862515498,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:58:53.865] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.01345145795494318,
"q_x": -0.12388316541910172,
"q_y": -0.015833882614970207,
"q_z": 0.9920792579650879,
"x": 0.33480212092399597,
"y": 0.48303020000457764,
"z": 0.0013591377064585686
}
}
}
[2026-09-13 11:58:53.865] [INFO] To get pl status.
[2026-09-13 11:58:53.865] [INFO] Received pl status: {"type":"pos_info","sec":1789271933,"nanosec":865314568,"errorCode":0,"info":"","data":{"currentPose":{"x":2.256874424771329,"y":0.4039238563050115,"z":-0.004846172448408489,"q_w":0.7289851235905936,"q_x":-0.10408748971734443,"q_y":0.10374306391120379,"q_z":0.6685685161285001},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:53.865] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.01345145795494318,"q_x":-0.12388316541910172,"q_y":-0.015833882614970207,"q_z":0.992079257965088,"x":0.33480212092399597,"y":0.4830302000045776,"z":0.0013591377064585686},"currentPose":{"x":2.256874424771329,"y":0.4039238563050115,"z":-0.004846172448408489,"q_w":0.7289851235905936,"q_x":-0.10408748971734444,"q_y":0.1037430639112038,"q_z":0.6685685161285001},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:58:53.865] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:58:53.865] [INFO] Received graph response: slices size (1)
[2026-09-13 11:58:53.865] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:53.865] [INFO] edge(0) name:9999
[2026-09-13 11:58:53.865] [INFO] node(0) name:8888
[2026-09-13 11:58:53.865] [INFO] node(1) name:9999
[2026-09-13 11:58:53.865] [INFO] Thread is still running...
[2026-09-13 11:58:53.882] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:58:53.882] [INFO] edge(0) name:9999
[2026-09-13 11:58:53.882] [INFO] node(0) name:8888
[2026-09-13 11:58:53.882] [INFO] node(1) name:9999
[2026-09-13 11:58:53.882] [INFO] Start control:
[2026-09-13 11:58:53.882] [INFO] Use normal control
[2026-09-13 11:59:01.115] [INFO] Control end.
[2026-09-13 11:59:01.115] [INFO] Pub slam key info: {"type":"task_result","sec":1789271941,"nanosec":115684016,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:59:01.119] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:59:01.119] [INFO] To get pl status.
[2026-09-13 11:59:01.119] [INFO] Received pl status: {"type":"pos_info","sec":1789271941,"nanosec":119751833,"errorCode":0,"info":"","data":{"currentPose":{"x":0.41908014310647634,"y":0.4873150346833446,"z":-0.012625346546854035,"q_w":0.006011123894236778,"q_x":-0.10501489179192026,"q_y":-0.0010893894058706661,"q_z":0.9944518852725767},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:01.119] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":0.41908014310647634,"y":0.4873150346833446,"z":-0.012625346546854037,"q_w":0.006011123894236778,"q_x":-0.10501489179192026,"q_y":-0.001089389405870666,"q_z":0.9944518852725768},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:01.120] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:59:01.120] [INFO] Received graph response: slices size (1)
[2026-09-13 11:59:01.120] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:01.120] [INFO] edge(0) name:9999
[2026-09-13 11:59:01.120] [INFO] node(0) name:8888
[2026-09-13 11:59:01.120] [INFO] node(1) name:9999
[2026-09-13 11:59:01.120] [INFO] Thread is still running...
[2026-09-13 11:59:01.136] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:01.136] [INFO] edge(0) name:9999
[2026-09-13 11:59:01.136] [INFO] node(0) name:8888
[2026-09-13 11:59:01.136] [INFO] node(1) name:9999
[2026-09-13 11:59:01.136] [INFO] Start control:
[2026-09-13 11:59:01.136] [INFO] Use normal control
[2026-09-13 11:59:11.358] [INFO] Control end.
[2026-09-13 11:59:11.358] [INFO] Pub slam key info: {"type":"task_result","sec":1789271951,"nanosec":358637018,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:59:11.363] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.5925834774971008,
"q_x": 0.10273826122283936,
"q_y": 0.07856744527816772,
"q_z": -0.7950577735900879,
"x": 3.0314509868621826,
"y": -0.06574512273073196,
"z": 0.03193258121609688
}
}
}
[2026-09-13 11:59:11.363] [INFO] To get pl status.
[2026-09-13 11:59:11.363] [INFO] Received pl status: {"type":"pos_info","sec":1789271951,"nanosec":363322423,"errorCode":0,"info":"","data":{"currentPose":{"x":2.291590169499341,"y":0.4018108086226737,"z":0.008067819033196264,"q_w":-0.7406124471871635,"q_x":0.11438843866469661,"q_y":-0.09667385205415473,"q_z":-0.6550287432626948},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:11.363] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.5925834774971008,"q_x":0.10273826122283936,"q_y":0.07856744527816772,"q_z":-0.7950577735900879,"x":3.0314509868621826,"y":-0.06574512273073196,"z":0.03193258121609688},"currentPose":{"x":2.291590169499341,"y":0.4018108086226737,"z":0.008067819033196264,"q_w":-0.7406124471871635,"q_x":0.1143884386646966,"q_y":-0.09667385205415473,"q_z":-0.6550287432626948},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:11.363] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:59:11.363] [INFO] Received graph response: slices size (1)
[2026-09-13 11:59:11.363] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:11.363] [INFO] edge(0) name:9999
[2026-09-13 11:59:11.363] [INFO] node(0) name:8888
[2026-09-13 11:59:11.363] [INFO] node(1) name:9999
[2026-09-13 11:59:11.363] [INFO] Thread is still running...
[2026-09-13 11:59:11.386] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:11.386] [INFO] edge(0) name:9999
[2026-09-13 11:59:11.386] [INFO] node(0) name:8888
[2026-09-13 11:59:11.386] [INFO] node(1) name:9999
[2026-09-13 11:59:11.386] [INFO] Start control:
[2026-09-13 11:59:11.386] [INFO] Use normal control
[2026-09-13 11:59:18.608] [INFO] Control end.
[2026-09-13 11:59:18.608] [INFO] Pub slam key info: {"type":"task_result","sec":1789271958,"nanosec":608051106,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:59:18.609] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:59:18.609] [INFO] To get pl status.
[2026-09-13 11:59:18.609] [INFO] Received pl status: {"type":"pos_info","sec":1789271958,"nanosec":609104005,"errorCode":0,"info":"","data":{"currentPose":{"x":3.037945120120769,"y":-0.06309454443576722,"z":0.03266508479585662,"q_w":-0.6315351810352015,"q_x":-0.08223193268197637,"q_y":-0.0727413100245168,"q_z":0.7675349673976681},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:18.609] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":3.037945120120769,"y":-0.06309454443576722,"z":0.03266508479585662,"q_w":-0.6315351810352015,"q_x":-0.08223193268197637,"q_y":-0.0727413100245168,"q_z":0.7675349673976681},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:18.609] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:59:18.609] [INFO] Received graph response: slices size (1)
[2026-09-13 11:59:18.609] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:18.609] [INFO] edge(0) name:9999
[2026-09-13 11:59:18.609] [INFO] node(0) name:8888
[2026-09-13 11:59:18.609] [INFO] node(1) name:9999
[2026-09-13 11:59:18.609] [INFO] Thread is still running...
[2026-09-13 11:59:18.630] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:18.630] [INFO] edge(0) name:9999
[2026-09-13 11:59:18.630] [INFO] node(0) name:8888
[2026-09-13 11:59:18.630] [INFO] node(1) name:9999
[2026-09-13 11:59:18.630] [INFO] Start control:
[2026-09-13 11:59:18.630] [INFO] Use normal control
[2026-09-13 11:59:23.171] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:80.3102 cpuTemp:62.9058 cpuMemory:33.1263 cpuFrequency:1510.4
[2026-09-13 11:59:25.342] [INFO] Control end.
[2026-09-13 11:59:25.342] [INFO] Pub slam key info: {"type":"task_result","sec":1789271965,"nanosec":342695785,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:59:25.347] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.01345145795494318,
"q_x": -0.12388316541910172,
"q_y": -0.015833882614970207,
"q_z": 0.9920792579650879,
"x": 0.33480212092399597,
"y": 0.48303020000457764,
"z": 0.0013591377064585686
}
}
}
[2026-09-13 11:59:25.347] [INFO] To get pl status.
[2026-09-13 11:59:25.347] [INFO] Received pl status: {"type":"pos_info","sec":1789271965,"nanosec":347466858,"errorCode":0,"info":"","data":{"currentPose":{"x":2.2510778801928137,"y":0.4140681104278343,"z":0.008418202773706368,"q_w":0.7233413147466757,"q_x":-0.10702002208199593,"q_y":0.0862979830637235,"q_z":0.6766658816382374},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:25.347] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.01345145795494318,"q_x":-0.12388316541910172,"q_y":-0.015833882614970207,"q_z":0.992079257965088,"x":0.33480212092399597,"y":0.4830302000045776,"z":0.0013591377064585686},"currentPose":{"x":2.2510778801928137,"y":0.4140681104278343,"z":0.008418202773706368,"q_w":0.7233413147466757,"q_x":-0.10702002208199592,"q_y":0.0862979830637235,"q_z":0.6766658816382374},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:25.347] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:59:25.347] [INFO] Received graph response: slices size (1)
[2026-09-13 11:59:25.347] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:25.347] [INFO] edge(0) name:9999
[2026-09-13 11:59:25.347] [INFO] node(0) name:8888
[2026-09-13 11:59:25.347] [INFO] node(1) name:9999
[2026-09-13 11:59:25.348] [INFO] Thread is still running...
[2026-09-13 11:59:25.363] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:25.363] [INFO] edge(0) name:9999
[2026-09-13 11:59:25.363] [INFO] node(0) name:8888
[2026-09-13 11:59:25.363] [INFO] node(1) name:9999
[2026-09-13 11:59:25.363] [INFO] Start control:
[2026-09-13 11:59:25.363] [INFO] Use normal control
[2026-09-13 11:59:32.276] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:59:32.276] [INFO] To planner request: {"data": {}}
[2026-09-13 11:59:32.286] [INFO] Control end.
[2026-09-13 11:59:32.286] [INFO] Pub slam key info: {"type":"task_result","sec":1789271972,"nanosec":286350259,"errorCode":0,"info":"","data":{"targetNodeName":9999,"is_arrived":true}}
[2026-09-13 11:59:32.378] [INFO] Received planner response (0):
[2026-09-13 11:59:32.378] [INFO] Received request. apiId:1102 fun:pose nav (PL). parameter:{
"data": {
"mode": 1,
"speed": 0.800000011920929,
"targetPose": {
"q_w": 0.7348371744155884,
"q_x": -0.09692253172397614,
"q_y": 0.08624907582998276,
"q_z": 0.6657187342643738,
"x": 2.2661197185516357,
"y": 0.40068602561950684,
"z": 0.013622148893773556
}
}
}
[2026-09-13 11:59:32.378] [INFO] To get pl status.
[2026-09-13 11:59:32.379] [INFO] Received pl status: {"type":"pos_info","sec":1789271972,"nanosec":379002532,"errorCode":0,"info":"","data":{"currentPose":{"x":0.40720639370655975,"y":0.4876559988,"z":-0.005825022457225086,"q_w":-0.0017302449866419057,"q_x":-0.12118495391051663,"q_y":-0.001235985164566804,"q_z":0.9926276671233103},"pcdName":"test","address":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:32.379] [INFO] To graph request: {"data":{"mode":1,"speed":0.800000011920929,"targetPose":{"q_w":0.7348371744155884,"q_x":-0.09692253172397614,"q_y":0.08624907582998276,"q_z":0.6657187342643738,"x":2.2661197185516357,"y":0.4006860256195069,"z":0.013622148893773556},"currentPose":{"x":0.40720639370655975,"y":0.4876559988,"z":-0.005825022457225086,"q_w":-0.0017302449866419057,"q_x":-0.12118495391051665,"q_y":-0.001235985164566804,"q_z":0.9926276671233104},"pcdName":"/home/unitree/test.pcd"}}
[2026-09-13 11:59:32.379] [INFO] Received graph response (0): {"succeed":true,"errorCode":0,"info":"Path planning and slicing executed successfully.","data":{"track":[[8888,9999]],"edgelist":[[9999]]}}
[2026-09-13 11:59:32.379] [INFO] Received graph response: slices size (1)
[2026-09-13 11:59:32.379] [INFO] task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:32.379] [INFO] edge(0) name:9999
[2026-09-13 11:59:32.379] [INFO] node(0) name:8888
[2026-09-13 11:59:32.379] [INFO] node(1) name:9999
[2026-09-13 11:59:32.380] [INFO] To planner request: task mode (Normal) edges size (1) nodes size (2)
[2026-09-13 11:59:32.380] [INFO] edge(0) name:9999
[2026-09-13 11:59:32.380] [INFO] node(0) name:8888
[2026-09-13 11:59:32.380] [INFO] node(1) name:9999
[2026-09-13 11:59:32.380] [INFO] Start control:
[2026-09-13 11:59:32.380] [INFO] Use normal control
[2026-09-13 11:59:37.175] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:59:37.175] [INFO] To planner request: {"data": {}}
[2026-09-13 11:59:37.282] [INFO] Received planner response (0):
[2026-09-13 11:59:37.385] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:59:37.385] [INFO] To planner request: {"data": {}}
[2026-09-13 11:59:37.385] [WARNING] Received planner response (1):
[2026-09-13 11:59:38.153] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:59:38.154] [INFO] To planner request: {"data": {}}
[2026-09-13 11:59:38.154] [WARNING] Received planner response (1):
[2026-09-13 11:59:38.349] [INFO] Received request. apiId:1201 fun:pause nav. parameter:{"data": {}}
[2026-09-13 11:59:38.349] [INFO] To planner request: {"data": {}}
[2026-09-13 11:59:38.349] [WARNING] Received planner response (1):
[2026-09-13 11:59:49.100] [INFO] Thread is still running...
[2026-09-13 11:59:49.120] [INFO] Control end.
[2026-09-13 11:59:49.120] [INFO] Pub slam key info: {"type":"task_result","sec":1789271989,"nanosec":120491073,"errorCode":14,"info":"Task interrupted.","data":{"targetNodeName":9999,"is_arrived":false}}
[2026-09-13 11:59:50.113] [WARNING] Joystick operation intervention, stop navigation.
[2026-09-13 11:59:50.172] [WARNING] The current CPU resources are occupied or the temperature is too high. cpuUsage:82.9911 cpuTemp:62.8042 cpuMemory:30.2826 cpuFrequency:1510.4
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