forked from ray/RobotKernal-UESTC
Compare commits
3 Commits
Author | SHA1 | Date |
---|---|---|
MikuSamaLOVEReady | 10e921150a | |
MikuSamaLOVEReady | 8bc0cf6dc6 | |
ray | ce58867195 |
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@ -0,0 +1,49 @@
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#!/usr/bin/env python
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import sys
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from pynput.keyboard import Key, Listener
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import subprocess
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running_process = None
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def execute_launch(key):
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global running_process
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launch_files = {
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'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []), # stereo
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'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']), # nav
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'c': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch', ['robot_env:=10_10m']), # client
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'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []), # server
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}
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# 检查按键是否对应一个.launch文件
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if key in launch_files:
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# 获取对应的.launch文件和参数
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launch_file, launch_args = launch_files[key]
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# 构造启动命令
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launch_command = ["roslaunch", launch_file] + launch_args
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# 执行对应的.launch文件
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running_process = subprocess.Popen(launch_command)
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# 监听按键事件
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def on_press(key):
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global running_process
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if key.char == 'q':
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print("stop1")
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if running_process:
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running_process.terminate()
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running_process = None # 清除已结束的进程
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print("stop2")
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return False # 停止监听器
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try:
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if key.char == 's':
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print("按下 's' 键,程序停止")
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return False # 停止监听器
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execute_launch(key.char)
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except AttributeError:
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# 按下的不是字符键,忽略
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pass
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with Listener(on_press=on_press) as listener:
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listener.join()
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@ -0,0 +1,32 @@
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#!/usr/bin/env python
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import subprocess
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import keyboard
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def execute_launch(launch_file, launch_args=[]):
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# 构造启动命令
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launch_command = ["roslaunch", launch_file] + launch_args
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# 启动一个新的终端并执行对应的.launch文件
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subprocess.Popen(['gnome-terminal', '--', 'bash',' '.join(launch_command)])
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# 监听按键事件
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def on_press(event):
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key = event.name
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# 检查按键是否对应一个.launch文件
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launch_files = {
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'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []), # stereo
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'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']), # nav
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'c': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch', ['robot_env:=10_10m']), # client
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'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []), # server
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}
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if key in launch_files:
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# 获取对应的.launch文件和参数
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launch_file, launch_args = launch_files[key]
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# 执行对应的.launch文件
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execute_launch(launch_file, launch_args)
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keyboard.on_press(on_press)
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# 运行程序
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keyboard.wait('q') # 等待按下 'q' 键
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@ -0,0 +1,68 @@
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import socket
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import threading
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import subprocess
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import netifaces
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def create_server_socket(host, port):
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socket_server = socket.socket()
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socket_server.bind((host, port))
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socket_server.listen(5)
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print(f"服务端已启动,地址{host},端口{port}")
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print(f"正在等待客户端连接...")
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# 开启多线程,收发来自多个客户端的数据
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num = 0 # 标记客户端的编号
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while True:
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num += 1
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conn, address = socket_server.accept()
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print(f"服务端已接受到客户端 {num}号 的连接请求,客户端信息:{address}")
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client_handler = threading.Thread(target=handle_client, args=(conn, address, num))
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client_handler.start()
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# 处理收发数据
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def handle_client(conn, address, num):
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while True:
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# 接收客户端发来的数据
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data_from_client: str = conn.recv(1024).decode("UTF-8")
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print(f"客户端 {num}号:{address}发来的消息是:{data_from_client}")
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# 发送消息到客户端
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msg = input(f"请输入你要回复客户端 {num}号:{address}的消息:")
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if msg == 'exit':
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break
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conn.send(msg.encode("UTF-8")) # encode将字符串编码为字节数组对象
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conn.close()
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# def handle_client(conn, address, client_num):
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# try:
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# while True:
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# data_from_client = conn.recv(1024).decode("UTF-8")
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# if not data_from_client:
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# break
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# print(f"客户端 {client_num} 号({address}) 发来的消息是:{data_from_client}")
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# if data_from_client.strip() == '1':
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# print("执行 roscore 命令...")
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# subprocess.run(['roscore'])
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# else:
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# msg = input(f"请输入你要回复客户端 {client_num} 号({address}) 的消息:")
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# if msg.lower() == 'exit':
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# break
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# conn.send(msg.encode("UTF-8"))
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# except Exception as e:
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# print(f"客户端 {client_num} 号({address}) 处理时发生错误:{e}")
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# finally:
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# conn.close()
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# print(f"客户端 {client_num} 号({address}) 已断开连接。")
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if __name__ == '__main__':
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# 获取本机(计算机)名
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hostname = socket.gethostname()
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# 获取本机(计算机)ip
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ip = socket.gethostbyname(hostname)
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print(hostname, ip)
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server_host = ip
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server_port = int(input("请输入服务端port:"))
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create_server_socket(server_host, server_port)
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import socket
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import threading
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import subprocess
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import netifaces
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# LAUNCH_FILES = {
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# '0x00': ['roslaunch', 'pibot_navigation', 'nav.launch'],
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# '0x01': ['roslaunch', 'upbot_location', 'upbot_location.launch'],
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# 'launch_file_1': ['roslaunch', 'package_name', 'launch_file_1.launch'],
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# 'launch_file_2': ['roslaunch', 'package_name', 'launch_file_2.launch']
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# }
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client_processes = {}
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process_id_counter = 0
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def get_local_ip():
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interfaces = netifaces.interfaces()
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for interface in interfaces:
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addresses = netifaces.ifaddresses(interface)
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if netifaces.AF_INET in addresses:
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for address_info in addresses[netifaces.AF_INET]:
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ip_address = address_info['addr']
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if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
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return ip_address
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def create_server_socket(host, port):
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try:
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socket_server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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socket_server.bind((host, port))
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socket_server.listen(5)
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print(f"服务端已启动,地址{host},端口{port}")
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print("正在等待客户端连接...")
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client_num = 0
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while True:
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client_num += 1
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conn, address = socket_server.accept()
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print(f"服务端已接受到客户端 {client_num} 号的连接请求,客户端信息:{address}")
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client_handler = threading.Thread(target=handle_client, args=(conn, address, client_num))
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client_handler.start()
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except Exception as e:
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print(f"错误:{e}")
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finally:
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socket_server.close()
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def handle_client(conn, address, client_num):
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global process_id_counter
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try:
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while True:
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data_from_client = conn.recv(1024).decode("UTF-8")
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if not data_from_client:
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break
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print(f"客户端 {client_num} 号({address}) 发来的消息是:{data_from_client}")
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data = data_from_client.strip()
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if data == '1':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"定位导航已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == '2':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"手持标签划定范围已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == '3':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"全覆盖服务端已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == '4':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"全覆盖客户端已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data.startswith('stop'):
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stop_data = data.split()
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if len(stop_data) == 2:
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process_id_to_stop = int(stop_data[1])
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if client_num in client_processes:
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for process_tuple in client_processes[client_num]:
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if process_tuple[0] == process_id_to_stop:
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process_tuple[1].terminate()
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client_processes[client_num].remove(process_tuple)
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conn.send(f"已停止客户端 {client_num} 号的进程 {process_id_to_stop}".encode("UTF-8"))
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break
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else:
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conn.send(f"客户端 {client_num} 号没有标识符为 {process_id_to_stop} 的进程".encode("UTF-8"))
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else:
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conn.send("没有启动的进程需要停止".encode("UTF-8"))
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else:
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conn.send("无效的停止命令格式".encode("UTF-8"))
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else:
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response = f"已收到消息: {data}"
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conn.send(response.encode("UTF-8"))
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except Exception as e:
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print(f"客户端 {client_num} 号({address}) 处理时发生错误:{e}")
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finally:
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conn.close()
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print(f"客户端 {client_num} 号({address}) 已断开连接。")
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if __name__ == '__main__':
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local_ip = get_local_ip()
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print("本机在局域网内的IP地址:", local_ip)
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server_port = int(input("请输入服务端端口号: "))
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create_server_socket(local_ip, server_port)
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@ -0,0 +1,102 @@
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import socket
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import threading
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import time
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import subprocess
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import netifaces
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# 初始化全局变量
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client_processes = {}
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process_id_counter = 0
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lock = threading.Lock()
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def get_local_ip():
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interfaces = netifaces.interfaces()
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for interface in interfaces:
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addresses = netifaces.ifaddresses(interface)
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if netifaces.AF_INET in addresses:
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for address_info in addresses[netifaces.AF_INET]:
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ip_address = address_info['addr']
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if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
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return ip_address
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def create_server_socket(host, port):
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socket_server = socket.socket() # 创建socket对象
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socket_server.bind((host, port)) # 绑定主机和端口
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socket_server.listen(5) # 监听传入的连接
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print(f"服务端已启动,地址{host},端口{port}")
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print(f"正在等待客户端连接...")
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num = 0
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try:
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while True:
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num += 1
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conn, address = socket_server.accept() # 接受连接
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print(f"服务端已接受到客户端 {num}号 的连接请求,客户端信息:{address}")
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client_handler = threading.Thread(target=handle_client, args=(conn, address, num))
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client_handler.start()
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except KeyboardInterrupt:
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print("服务器正在关闭...")
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socket_server.close()
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for thread in threading.enumerate():
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if thread != threading.current_thread():
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thread.join()
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except Exception as e:
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print(f"服务器发生错误:{e}")
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socket_server.close()
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def handle_client(conn, address, num):
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global process_id_counter
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with conn:
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while True:
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time.sleep(0.01)
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try:
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data_from_client_bytes = conn.recv(1024)
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if len(data_from_client_bytes) == 0:
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print(f"客户端 {num}号 已断开连接")
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break
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data_from_client_hex = ' '.join([hex(x) for x in data_from_client_bytes])
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print(f"客户端 {num}号:{address} 发来的消息是:{data_from_client_hex}")
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if len(data_from_client_bytes) > 4:
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data = data_from_client_bytes[4]
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with lock:
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process_id_counter += 1
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process_id = process_id_counter
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log_file = open(f"process_{process_id}.log", "w")
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if data == 0x0:
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process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch'], stdout=log_file, stderr=log_file)
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# process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'],stdout=log_file, stderr=log_file)
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print("启动定位导航")
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conn.send(f"定位导航已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == 0x5:
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process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'], stdout=log_file, stderr=log_file)
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conn.send(f"手持标签划定范围已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == 0x2:
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'], stdout=log_file, stderr=log_file)
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conn.send(f"全覆盖服务端已启动,进程标识符为 {process_id}".encode("UTF-8"))
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'], stdout=log_file, stderr=log_file)
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conn.send(f"全覆盖客户端已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == 0x7:
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conn.send(f"返回充电已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == 0x10:
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conn.send(f"基站初始化已启动,进程标识符为 {process_id}".encode("UTF-8"))
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client_processes.setdefault(num, []).append((process_id, process))
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except ConnectionResetError:
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print(f"客户端 {num}号:{address} 连接重置")
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break
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except Exception as e:
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print(f"客户端 {num}号:{address} 发生异常:{e}")
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break
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if __name__ == '__main__':
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local_ip = get_local_ip()
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print("本机在局域网内的IP地址:", local_ip)
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server_host = local_ip
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server_port = 19890
|
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create_server_socket(server_host, server_port)
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@ -0,0 +1,100 @@
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import socket
|
||||
import threading
|
||||
import time
|
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import subprocess
|
||||
import netifaces
|
||||
|
||||
# 初始化全局变量
|
||||
client_processes = {}
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process_id_counter = 0
|
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lock = threading.Lock()
|
||||
|
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def get_local_ip():
|
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interfaces = netifaces.interfaces()
|
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for interface in interfaces:
|
||||
addresses = netifaces.ifaddresses(interface)
|
||||
if netifaces.AF_INET in addresses:
|
||||
for address_info in addresses[netifaces.AF_INET]:
|
||||
ip_address = address_info['addr']
|
||||
if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
|
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return ip_address
|
||||
|
||||
def create_server_socket(host, port):
|
||||
socket_server = socket.socket() # 创建socket对象
|
||||
socket_server.bind((host, port)) # 绑定主机和端口
|
||||
socket_server.listen(5) # 监听传入的连接
|
||||
print(f"服务端已启动,地址{host},端口{port}")
|
||||
print(f"正在等待客户端连接...")
|
||||
num = 0
|
||||
try:
|
||||
while True:
|
||||
num += 1
|
||||
conn, address = socket_server.accept() # 接受连接
|
||||
print(f"服务端已接受到客户端 {num}号 的连接请求,客户端信息:{address}")
|
||||
client_handler = threading.Thread(target=handle_client, args=(conn, address, num))
|
||||
client_handler.start()
|
||||
except KeyboardInterrupt:
|
||||
print("服务器正在关闭...")
|
||||
socket_server.close()
|
||||
for thread in threading.enumerate():
|
||||
if thread != threading.current_thread():
|
||||
thread.join()
|
||||
except Exception as e:
|
||||
print(f"服务器发生错误:{e}")
|
||||
socket_server.close()
|
||||
|
||||
def handle_client(conn, address, num):
|
||||
global process_id_counter
|
||||
with conn:
|
||||
while True:
|
||||
time.sleep(0.01)
|
||||
try:
|
||||
data_from_client_bytes = conn.recv(1024)
|
||||
if len(data_from_client_bytes) == 0:
|
||||
print(f"客户端 {num}号 已断开连接")
|
||||
break
|
||||
|
||||
data_from_client_hex = ' '.join([hex(x) for x in data_from_client_bytes])
|
||||
print(f"客户端 {num}号:{address} 发来的消息是:{data_from_client_hex}")
|
||||
|
||||
if len(data_from_client_bytes) > 4:
|
||||
data = data_from_client_bytes[4]
|
||||
|
||||
with lock:
|
||||
process_id_counter += 1
|
||||
process_id = process_id_counter
|
||||
|
||||
if data == 0x0:
|
||||
# process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'])
|
||||
process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch'])
|
||||
|
||||
print("启动定位导航")
|
||||
conn.send(f"定位导航已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x5:
|
||||
process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'])
|
||||
conn.send(f"手持标签划定范围已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x2:
|
||||
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'])
|
||||
conn.send(f"全覆盖服务端已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'])
|
||||
conn.send(f"全覆盖客户端已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x7:
|
||||
conn.send(f"返回充电已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
elif data == 0x10:
|
||||
conn.send(f"基站初始化已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
||||
|
||||
client_processes.setdefault(num, []).append((process_id, process))
|
||||
except ConnectionResetError:
|
||||
print(f"客户端 {num}号:{address} 连接重置")
|
||||
break
|
||||
except Exception as e:
|
||||
print(f"客户端 {num}号:{address} 发生异常:{e}")
|
||||
break
|
||||
|
||||
if __name__ == '__main__':
|
||||
local_ip = get_local_ip()
|
||||
print("本机在局域网内的IP地址:", local_ip)
|
||||
server_host = local_ip
|
||||
server_port = 19890
|
||||
|
||||
create_server_socket(server_host, server_port)
|
|
@ -36,6 +36,7 @@ add_message_files(
|
|||
RoomSequence.msg
|
||||
dis_info.msg
|
||||
dis_info_array.msg
|
||||
avoid.msg
|
||||
)
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
|
|
|
@ -0,0 +1,6 @@
|
|||
Header header
|
||||
float32 ultrasonic_range
|
||||
bool l1
|
||||
bool l2
|
||||
bool r1
|
||||
bool r2
|
|
@ -0,0 +1,166 @@
|
|||
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
|
||||
1712805704.485612191,4.78476,-4.59912,1.84639,-0.0316338,0.592477,0.0038213,0,0.177778,-0.36,0
|
||||
1712805704.635969052,4.78476,-4.59912,1.84639,-0.031645,0.592687,0.00378168,0,0.177778,-0.36,0
|
||||
1712805704.786246279,4.78476,-4.59912,1.84639,-0.0316506,0.592791,0.00379043,0,0.177778,-0.36,0
|
||||
1712805704.936497838,4.78476,-4.59912,1.84639,-0.0316617,0.592999,0.00376956,0,0.177778,-0.36,0
|
||||
1712805705.086754037,4.78476,-4.59912,1.84639,-0.0316672,0.593102,0.00379787,0,0.177778,-0.36,0
|
||||
1712805705.237086932,4.78476,-4.59912,1.84639,-0.0316782,0.593308,0.00377723,0,0.177778,-0.36,0
|
||||
1712805705.387409326,4.78476,-4.59912,1.84639,-0.0316836,0.593411,0.00382155,0,0.177778,-0.36,0
|
||||
1712805705.537599873,4.78476,-4.59912,1.84639,-0.0316945,0.593615,0.00375469,0,0.177778,-0.36,0
|
||||
1712805705.687976522,4.78476,-4.59912,1.84639,-0.0316999,0.593716,0.0037584,0,0.177778,-0.36,0
|
||||
1712805705.838158902,4.78476,-4.59912,1.84639,-0.0317107,0.593918,0.00372506,0,0.177778,-0.36,0
|
||||
1712805705.988452418,4.78476,-4.59912,1.84639,-0.0317161,0.594018,0.00375223,0,0.177778,-0.36,0
|
||||
1712805706.138683468,4.78476,-4.59912,1.84639,-0.0317268,0.594218,0.00380225,0,0.177778,-0.36,0
|
||||
1712805706.288926182,4.78476,-4.59912,1.84639,-0.0317321,0.594318,0.00380023,0,0.177778,-0.36,0
|
||||
1712805706.439174731,4.78476,-4.59912,1.84639,-0.0317374,0.594417,0.00378743,0,0.177778,-0.36,0
|
||||
1712805706.589400527,4.78476,-4.59912,1.84639,-0.0317479,0.594615,0.00376657,0,0.177778,-0.36,0
|
||||
1712805706.739580818,4.78476,-4.59912,1.84639,-0.0317584,0.594811,0.00378893,0,0.177778,-0.36,0
|
||||
1712805706.889828491,4.78476,-4.59912,1.84639,-0.0317636,0.594909,0.00369091,0,0.177778,-0.36,0
|
||||
1712805707.040198665,4.78476,-4.59912,1.84639,-0.031774,0.595103,0.00370918,0,0.177778,-0.36,0
|
||||
1712805707.190443959,4.78476,-4.59912,1.84639,-0.0317792,0.5952,0.00364317,0,0.177778,-0.36,0
|
||||
1712805707.340768301,4.78476,-4.59912,1.84639,-0.0317894,0.595393,0.00363444,0,0.177778,-0.36,0
|
||||
1712805707.491066100,4.78476,-4.59912,1.84639,-0.0317946,0.595488,0.00365162,0,0.177778,-0.36,0
|
||||
1712805707.641359523,4.78476,-4.59912,1.84639,-0.0318048,0.595679,0.00360384,0,0.177778,-0.36,0
|
||||
1712805707.791594898,4.78476,-4.59912,1.84639,-0.0318098,0.595774,0.00360011,0,0.177778,-0.36,0
|
||||
1712805707.941852735,4.78476,-4.59912,1.84639,-0.0318199,0.595963,0.00357646,0,0.177778,-0.36,0
|
||||
1712805708.092104419,4.78476,-4.59912,1.84639,-0.0318249,0.596057,0.00355452,0,0.177778,-0.36,0
|
||||
1712805708.242335373,4.78476,-4.59912,1.84639,-0.0318349,0.596245,0.0035605,0,0.177778,-0.36,0
|
||||
1712805708.392521115,4.78476,-4.59912,1.84639,-0.0318399,0.596338,0.0035797,0,0.177778,-0.36,0
|
||||
1712805708.542775405,4.78476,-4.59912,1.84639,-0.0318498,0.596523,0.00359655,0,0.177778,-0.36,0
|
||||
1712805708.693024152,4.78476,-4.59912,1.84639,-0.0318547,0.596615,0.00356917,0,0.177778,-0.36,0
|
||||
1712805708.843272317,4.78476,-4.59912,1.84639,-0.0318646,0.596799,0.00360208,0,0.177778,-0.36,0
|
||||
1712805708.993561318,4.78476,-4.59912,1.84639,-0.0318694,0.596891,0.00365154,0,0.177778,-0.36,0
|
||||
1712805709.143834818,4.78476,-4.59912,1.84639,-0.0318791,0.597073,0.00365862,0,0.177778,-0.36,0
|
||||
1712805709.294102189,4.78476,-4.59912,1.84639,-0.031884,0.597163,0.00380474,0,0.177778,-0.36,0
|
||||
1712805709.444352058,4.78476,-4.59912,1.84639,-0.0318936,0.597343,0.00380493,0,0.177778,-0.36,0
|
||||
1712805709.594611261,4.78476,-4.59912,1.84639,-0.0318984,0.597433,0.00388299,0,0.177778,-0.36,0
|
||||
1712805709.744860547,4.78476,-4.59912,1.84639,-0.0319079,0.597612,0.00401461,0,0.177778,-0.36,0
|
||||
1712805709.895131710,4.78476,-4.59912,1.84639,-0.0319127,0.597701,0.00404974,0,0.177778,-0.36,0
|
||||
1712805710.045433197,4.78476,-4.59912,1.84639,-0.0319221,0.597878,0.00408914,0,0.177778,-0.36,0
|
||||
1712805710.195674561,4.78476,-4.59912,1.84639,-0.0319268,0.597966,0.00408986,0,0.177778,-0.36,0
|
||||
1712805710.345917093,4.78476,-4.59912,1.84639,-0.0319362,0.598141,0.00413241,0,0.177778,-0.36,0
|
||||
1712805710.496172167,4.78476,-4.59912,1.84639,-0.0319408,0.598228,0.00424216,0,0.177778,-0.36,0
|
||||
1712805710.646414699,4.78476,-4.59912,1.84639,-0.0319501,0.598402,0.00426972,0,0.177778,-0.36,0
|
||||
1712805710.796656647,4.78476,-4.59912,1.84639,-0.0319547,0.598488,0.00434734,0,0.177778,-0.36,0
|
||||
1712805710.946932140,4.78476,-4.59912,1.84639,-0.0319639,0.59866,0.00431528,0,0.2,-0.36,0
|
||||
1712805711.097173477,4.78476,-4.59912,1.84639,-0.0319685,0.598746,0.00431076,0,0.2,-0.36,0
|
||||
1712805711.247419173,4.78476,-4.59912,1.84639,-0.0319776,0.598916,0.00425824,0,0.2,-0.36,0
|
||||
1712805711.397680036,4.78476,-4.59912,1.84639,-0.0319821,0.599001,0.00425239,0,0.2,-0.36,0
|
||||
1712805711.547928649,4.78476,-4.59912,1.84639,-0.0319911,0.599169,0.00419546,0,0.2,-0.36,0
|
||||
1712805711.698106671,4.78476,-4.59912,1.84639,-0.0319956,0.599253,0.00413045,0,0.2,-0.36,0
|
||||
1712805711.848338657,4.78476,-4.59912,1.84639,-0.0320045,0.599421,0.00411787,0,0.2,-0.36,0
|
||||
1712805711.998654359,4.78476,-4.59912,1.84639,-0.0320089,0.599504,0.00413717,0,0.2,-0.36,0
|
||||
1712805712.148871717,4.78476,-4.59912,1.84639,-0.0320178,0.599669,0.00416719,0,0.2,-0.36,0
|
||||
1712805712.299195251,4.78476,-4.59912,1.84639,-0.0320222,0.599752,0.00409018,0,0.2,-0.36,0
|
||||
1712805712.449499532,4.78476,-4.59912,1.84639,-0.0320309,0.599916,0.00410574,0,0.2,-0.36,0
|
||||
1712805712.600720320,4.78476,-4.59912,1.84639,-0.0320353,0.599997,0.00411205,0,0.2,-0.36,0
|
||||
1712805712.751071564,4.78476,-4.59912,1.84639,-0.032044,0.60016,0.00408827,0,0.2,-0.36,0
|
||||
1712805712.901410557,4.78476,-4.59912,1.84639,-0.0320483,0.600241,0.00409029,0,0.2,-0.36,0
|
||||
1712805713.051680405,4.78476,-4.59912,1.84639,-0.0320569,0.600402,0.00403691,0,0.2,-0.36,0
|
||||
1712805713.201904718,4.78476,-4.59912,1.84639,-0.0320612,0.600482,0.00406251,0,0.2,-0.36,0
|
||||
1712805713.352155867,4.78476,-4.59912,1.84639,-0.0320697,0.600641,0.00405108,0,0.2,-0.36,0
|
||||
1712805713.502403516,4.78476,-4.59912,1.84639,-0.0320739,0.60072,0.00406138,0,0.2,-0.36,0
|
||||
1712805713.652710379,4.78476,-4.59912,1.84639,-0.0320823,0.600878,0.00409183,0,0.2,-0.36,0
|
||||
1712805713.802955986,4.78476,-4.59912,1.84639,-0.0320865,0.600957,0.00409273,0,0.2,-0.36,0
|
||||
1712805713.953192550,4.78476,-4.59912,1.84639,-0.0320949,0.601113,0.00410593,0,0.2,-0.36,0
|
||||
1712805714.103501134,4.78476,-4.59912,1.84639,-0.032099,0.601191,0.00410325,0,0.2,-0.36,0
|
||||
1712805714.253789868,4.78476,-4.59912,1.84639,-0.0321073,0.601346,0.00402028,0,0.2,-0.36,0
|
||||
1712805714.404037765,4.78476,-4.59912,1.84639,-0.0321114,0.601423,0.00407366,0,0.2,-0.36,0
|
||||
1712805714.554299955,4.78476,-4.59912,1.84639,-0.0321196,0.601577,0.0040792,0,0.2,-0.36,0
|
||||
1712805714.704526849,4.78476,-4.59912,1.84639,-0.0321237,0.601653,0.00402183,0,0.2,-0.36,0
|
||||
1712805714.854899300,4.78476,-4.59912,1.84639,-0.0321318,0.601805,0.00404076,0,0.2,-0.36,0
|
||||
1712805715.005137862,4.78476,-4.59912,1.84639,-0.0321359,0.601881,0.00402385,0,0.2,-0.36,0
|
||||
1712805715.155460097,4.78476,-4.59912,1.84639,-0.0321439,0.602031,0.00405091,0,0.2,-0.36,0
|
||||
1712805715.305651945,4.78476,-4.59912,1.84639,-0.0321479,0.602106,0.00409217,0,0.2,-0.36,0
|
||||
1712805715.455917300,4.78476,-4.59912,1.84639,-0.0321559,0.602256,0.00417234,0,0.2,-0.36,0
|
||||
1712805715.606167779,4.78476,-4.59912,1.84639,-0.0321598,0.60233,0.00428277,0,0.2,-0.36,0
|
||||
1712805715.758448161,4.78476,-4.59912,1.84639,-0.0321677,0.602478,0.00427061,0,0.2,-0.36,0
|
||||
1712805715.908724892,4.78476,-4.59912,1.84639,-0.0321717,0.602551,0.00420857,0,0.2,-0.36,0
|
||||
1712805716.058978563,4.78476,-4.59912,1.84639,-0.0321795,0.602698,0.00419497,0,0.2,-0.36,0
|
||||
1712805716.209231916,4.78476,-4.59912,1.84639,-0.0321834,0.60277,0.00431709,0,0.2,-0.36,0
|
||||
1712805716.359494311,4.78476,-4.59912,1.84639,-0.0321911,0.602916,0.0043439,0,0.2,-0.36,0
|
||||
1712805716.509758456,4.78476,-4.59912,1.84639,-0.032195,0.602988,0.00432665,0,0.2,-0.36,0
|
||||
1712805716.660001599,4.78476,-4.59912,1.84639,-0.0322026,0.603131,0.00428875,0,0.2,-0.36,0
|
||||
1712805716.810248242,4.78476,-4.59912,1.84639,-0.0322065,0.603203,0.00430948,0,0.2,-0.36,0
|
||||
1712805716.960503637,4.78476,-4.59912,1.84639,-0.0322141,0.603345,0.00432923,0,0.2,-0.36,0
|
||||
1712805717.110755792,4.78476,-4.59912,1.84639,-0.0322178,0.603416,0.00432583,0,0.2,-0.36,0
|
||||
1712805717.260996851,4.78476,-4.59912,1.84639,-0.0322254,0.603557,0.00435865,0,0.2,-0.36,0
|
||||
1712805717.411257453,4.78476,-4.59912,1.84639,-0.0322291,0.603627,0.00436897,0,0.2,-0.36,0
|
||||
1712805717.561550141,4.78476,-4.59912,1.84639,-0.0322366,0.603767,0.00432007,0,0.2,-0.36,0
|
||||
1712805717.711751237,4.78476,-4.59912,1.84639,-0.0322403,0.603836,0.00428298,0,0.2,-0.36,0
|
||||
1712805717.862001047,4.78476,-4.59912,1.84639,-0.0322477,0.603974,0.00437234,0,0.2,-0.36,0
|
||||
1712805718.012322611,4.78476,-4.59912,1.84639,-0.0322513,0.604043,0.0043706,0,0.2,-0.36,0
|
||||
1712805718.162579378,4.78476,-4.59912,1.84639,-0.0322586,0.60418,0.0043883,0,0.2,-0.36,0
|
||||
1712805718.312825645,4.78476,-4.59912,1.84639,-0.0322623,0.604249,0.00445404,0,0.2,-0.36,0
|
||||
1712805718.463088830,4.78476,-4.59912,1.84639,-0.0322695,0.604384,0.00452011,0,0.2,-0.36,0
|
||||
1712805718.613335388,4.78476,-4.59912,1.84639,-0.0322731,0.604452,0.0045163,0,0.2,-0.36,0
|
||||
1712805718.763588072,4.78476,-4.59912,1.84639,-0.0322803,0.604586,0.00451136,0,0.2,-0.36,0
|
||||
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@ -0,0 +1,81 @@
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time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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@ -0,0 +1 @@
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time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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@ -0,0 +1 @@
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time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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@ -82,6 +82,10 @@
|
|||
#include <vector>
|
||||
#include <algorithm>
|
||||
#include <cmath>
|
||||
#include <fstream>
|
||||
#include <ctime>
|
||||
#include <mutex>
|
||||
|
||||
// services and actions
|
||||
#include <ipa_building_msgs/RoomExplorationAction.h>
|
||||
#include <cob_map_accessibility_analysis/CheckPerimeterAccessibility.h>
|
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|
@ -114,10 +118,12 @@
|
|||
#include <actionlib_msgs/GoalID.h>
|
||||
#include "ipa_building_msgs/dis_info.h"
|
||||
#include "ipa_building_msgs/dis_info_array.h"
|
||||
#include "ipa_building_msgs/avoid.h"
|
||||
|
||||
|
||||
|
||||
#define PI 3.14159265359
|
||||
std::mutex log_mutex;
|
||||
|
||||
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
|
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||||
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@ -288,6 +294,64 @@ protected:
|
|||
mat.at<int8_t>(y,x) = map.data[y*mat.cols+x];
|
||||
}
|
||||
|
||||
void fileinit(const std::string& directory)
|
||||
{
|
||||
std::time_t now = std::time(nullptr);
|
||||
std::tm local_time = *std::localtime(&now);
|
||||
|
||||
// 根据当前时间构建文件名
|
||||
std::stringstream filename_stream;
|
||||
filename_stream << directory << "/data_" << std::put_time(&local_time, "%Y-%m-%d_%H-%M-%S") << ".txt";
|
||||
std::string filename = filename_stream.str();
|
||||
outfile.open(filename);
|
||||
if (outfile.is_open()) {
|
||||
std::cout << "start saving data" << std::endl;
|
||||
outfile << "time,"\
|
||||
<< "goalx,goaly,goaltheta,"\
|
||||
<< "currentx,currenty,currenttheta,"\
|
||||
<< "flag,"\
|
||||
<< "linearx,anglez"\
|
||||
<< "\n";
|
||||
} else {
|
||||
std::cerr << "Unable to open file " << filename << std::endl;
|
||||
}
|
||||
}
|
||||
void loginit(const std::string& directory)
|
||||
{
|
||||
std::time_t now = std::time(nullptr);
|
||||
std::tm local_time = *std::localtime(&now);
|
||||
|
||||
// 根据当前时间构建文件名
|
||||
std::stringstream filename_stream;
|
||||
filename_stream << directory << "/log_" << std::put_time(&local_time, "%Y-%m-%d_%H-%M-%S") << ".txt";
|
||||
std::string filename = filename_stream.str();
|
||||
outlog.open(filename);
|
||||
if (outlog.is_open()) {
|
||||
std::cout << "start saving data" << std::endl;
|
||||
} else {
|
||||
std::cerr << "Unable to open file " << filename << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void writetofile(const geometry_msgs::Pose2D& map_oriented_pose,const geometry_msgs::Pose2D& current_pose,const bool flag_,const geometry_msgs::Twist& cmd_vel_,const double eps)
|
||||
{
|
||||
ros::Time time=ros::Time::now();
|
||||
outfile << time <<","\
|
||||
<< map_oriented_pose.x << "," << map_oriented_pose.y << "," << map_oriented_pose.theta << ","\
|
||||
<< current_pose.x << "," << current_pose.y << "," << current_pose.theta << ","\
|
||||
<< flag_ << ","\
|
||||
<< cmd_vel_.linear.x <<","<< cmd_vel_.angular.z<< ","\
|
||||
<< eps <<"\n";
|
||||
}
|
||||
void writetolog(const std::string& string)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(log_mutex);
|
||||
ros::Time time=ros::Time::now();
|
||||
outlog <<"time:"<< time <<"---------"<< "string:" <<string <<"\n";
|
||||
}
|
||||
|
||||
|
||||
|
||||
// !!Important!!
|
||||
// define the Nodehandle before the action server, or else the server won't start
|
||||
|
@ -296,17 +360,19 @@ protected:
|
|||
actionlib::SimpleActionServer<ipa_building_msgs::RoomExplorationAction> room_exploration_server_;
|
||||
dynamic_reconfigure::Server<ipa_room_exploration::RoomExplorationConfig> room_exploration_dynamic_reconfigure_server_;
|
||||
|
||||
|
||||
|
||||
private:
|
||||
void turn(int lr,int time);//rad/s ,0.1s
|
||||
void gostraight(float v,int time);// 0.1s
|
||||
void publishZeroVelocity();//Publishes a velocity command of zero to the base
|
||||
|
||||
std::ofstream outfile,outlog;
|
||||
|
||||
bool flag_=0;
|
||||
bool flag_ultra_=0;
|
||||
bool flag_collid_=0;
|
||||
bool collid_left1_=0;
|
||||
bool collid_right1_=0;
|
||||
bool collid_left2_=0;
|
||||
bool collid_right2_=0;
|
||||
|
||||
|
||||
public:
|
||||
|
@ -317,7 +383,7 @@ public:
|
|||
ros::Subscriber collid_sub_;
|
||||
|
||||
void stereo_CB(const ipa_building_msgs::dis_info_array::ConstPtr& flag);
|
||||
void ultrasonic_CB(const std_msgs::String::ConstPtr& ul_dis);
|
||||
void ultrasonic_CB(const ipa_building_msgs::avoid::ConstPtr& ul_dis);
|
||||
void collid_CB(const std_msgs::String::ConstPtr& flag);
|
||||
void cmd_CB(const geometry_msgs::Twist::ConstPtr& cmd_vel);
|
||||
|
||||
|
|
|
@ -7,6 +7,7 @@
|
|||
<remap from="/room_exploration/room_exploration_server/cmd_vel" to="/cmd_vel"/>
|
||||
<remap from="/room_exploration/room_exploration_server/move_base/cancel" to="/move_base/cancel"/>
|
||||
<remap from="/room_exploration/room_exploration_server/stereo_msg" to="/ceju_info"/>
|
||||
<remap from="/room_exploration/room_exploration_server/ultrasonic_msg" to="/ultrasonic_data"/>
|
||||
|
||||
|
||||
</node>
|
||||
|
|
|
@ -39,7 +39,7 @@ execute_path: true
|
|||
# can be turned off (0) when used with real robot
|
||||
# double
|
||||
# [pixel], where one pixel is the size of one cell in the navigation grid map
|
||||
goal_eps: 0.0 #0.35
|
||||
goal_eps: 0.2 #0.35
|
||||
|
||||
# use a dynamic goal distance criterion: the larger the path's curvature, the more accurate the navigation.
|
||||
# Use 'goal_eps' param as maximum distance on straight paths and zero distance (accurate goal approaching) on 90° curves.
|
||||
|
|
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
time:1713946459.164132111---------string:Sending goal with eps
|
||||
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|
||||
time:1713946459.594401997---------string:transform1178行
|
||||
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|
||||
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|
||||
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|
||||
time:1713946459.956631724---------string:Sending goal with eps
|
||||
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|
||||
time:1713946460.394385763---------string:transform1178行
|
||||
time:1713946460.394578270---------string:current goal could be reached.
|
||||
time:1713946460.490818963---------string:0.769866
|
||||
time:1713946460.490914925---------string:16
|
||||
time:1713946460.821411034---------string:Sending goal with eps
|
||||
time:1713946460.821449827---------string:0.968744
|
||||
time:1713946461.252817884---------string:transform1178行
|
||||
time:1713946461.253013599---------string:current goal could be reached.
|
||||
time:1713946461.289183925---------string:0.968744
|
||||
time:1713946461.289229135---------string:17
|
||||
time:1713946461.546881452---------string:Sending goal with eps
|
||||
time:1713946461.546928121---------string:0.812503
|
||||
time:1713946462.000392198---------string:transform1178行
|
||||
time:1713946462.150549452---------string:transform1178行
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
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|
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|||
time:1713948670.835822283---------string:0
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||||
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||||
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||||
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||||
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||||
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|
||||
time:1713948860.857586289---------string:Waiting for the move_base action server to come up
|
||||
time:1713948865.857718797---------string:Waiting for the move_base action server to come up
|
||||
time:1713948870.857940270---------string:Waiting for the move_base action server to come up
|
||||
time:1713948875.858133743---------string:Waiting for the move_base action server to come up
|
||||
time:1713948880.858208213---------string:Waiting for the move_base action server to come up
|
||||
time:1713948885.858271894---------string:Waiting for the move_base action server to come up
|
||||
time:1713948890.860597544---------string:Waiting for the move_base action server to come up
|
||||
time:1713948895.860694771---------string:Waiting for the move_base action server to come up
|
||||
time:1713948900.860886796---------string:Waiting for the move_base action server to come up
|
||||
time:1713948905.861041487---------string:Waiting for the move_base action server to come up
|
||||
time:1713948910.861351645---------string:Waiting for the move_base action server to come up
|
||||
time:1713948915.861518300---------string:Waiting for the move_base action server to come up
|
||||
time:1713948920.861679705---------string:Waiting for the move_base action server to come up
|
||||
time:1713948925.861861822---------string:Waiting for the move_base action server to come up
|
||||
time:1713948930.862069900---------string:Waiting for the move_base action server to come up
|
||||
time:1713948935.862236562---------string:Waiting for the move_base action server to come up
|
||||
time:1713948940.862402350---------string:Waiting for the move_base action server to come up
|
||||
time:1713948945.862573098---------string:Waiting for the move_base action server to come up
|
||||
time:1713948950.862726931---------string:Waiting for the move_base action server to come up
|
||||
time:1713948955.862897974---------string:Waiting for the move_base action server to come up
|
||||
time:1713948960.863083312---------string:Waiting for the move_base action server to come up
|
||||
time:1713948965.863270109---------string:Waiting for the move_base action server to come up
|
||||
time:1713948970.863409948---------string:Waiting for the move_base action server to come up
|
||||
time:1713948975.863638751---------string:Waiting for the move_base action server to come up
|
||||
time:1713948980.863847721---------string:Waiting for the move_base action server to come up
|
||||
time:1713948985.864050276---------string:Waiting for the move_base action server to come up
|
||||
time:1713948990.864276750---------string:Waiting for the move_base action server to come up
|
||||
time:1713948995.864458015---------string:Waiting for the move_base action server to come up
|
||||
time:1713949000.864682742---------string:Waiting for the move_base action server to come up
|
||||
time:1713949005.864884428---------string:Waiting for the move_base action server to come up
|
||||
time:1713949010.865062781---------string:Waiting for the move_base action server to come up
|
||||
time:1713949015.865284596---------string:Waiting for the move_base action server to come up
|
||||
time:1713949020.865462952---------string:Waiting for the move_base action server to come up
|
||||
time:1713949025.865692937---------string:Waiting for the move_base action server to come up
|
||||
time:1713949030.865916798---------string:Waiting for the move_base action server to come up
|
||||
time:1713949035.866141828---------string:Waiting for the move_base action server to come up
|
||||
time:1713949040.866352858---------string:Waiting for the move_base action server to come up
|
||||
time:1713949045.866562139---------string:Waiting for the move_base action server to come up
|
||||
time:1713949050.866643959---------string:Waiting for the move_base action server to come up
|
||||
time:1713949055.866735405---------string:Waiting for the move_base action server to come up
|
||||
time:1713949060.866877896---------string:Waiting for the move_base action server to come up
|
||||
time:1713949065.867035848---------string:Waiting for the move_base action server to come up
|
||||
time:1713949070.867198468---------string:Waiting for the move_base action server to come up
|
||||
time:1713949075.867382673---------string:Waiting for the move_base action server to come up
|
||||
time:1713949080.867547629---------string:Waiting for the move_base action server to come up
|
||||
time:1713949085.867702961---------string:Waiting for the move_base action server to come up
|
||||
time:1713949090.867892712---------string:Waiting for the move_base action server to come up
|
||||
time:1713949095.868043088---------string:Waiting for the move_base action server to come up
|
||||
time:1713949100.868206299---------string:Waiting for the move_base action server to come up
|
||||
time:1713949105.868389638---------string:Waiting for the move_base action server to come up
|
||||
time:1713949110.868573561---------string:Waiting for the move_base action server to come up
|
||||
time:1713949115.868742901---------string:Waiting for the move_base action server to come up
|
||||
time:1713949120.868871699---------string:Waiting for the move_base action server to come up
|
||||
time:1713949125.869044833---------string:Waiting for the move_base action server to come up
|
||||
time:1713949130.869244512---------string:Waiting for the move_base action server to come up
|
||||
time:1713949135.869415607---------string:Waiting for the move_base action server to come up
|
||||
time:1713949140.869599537---------string:Waiting for the move_base action server to come up
|
||||
time:1713949145.869802428---------string:Waiting for the move_base action server to come up
|
||||
time:1713949150.870052571---------string:Waiting for the move_base action server to come up
|
||||
time:1713949155.870290466---------string:Waiting for the move_base action server to come up
|
||||
time:1713949160.870504152---------string:Waiting for the move_base action server to come up
|
||||
time:1713949165.870708505---------string:Waiting for the move_base action server to come up
|
||||
time:1713949170.870807855---------string:Waiting for the move_base action server to come up
|
||||
time:1713949175.870905165---------string:Waiting for the move_base action server to come up
|
||||
time:1713949180.870989350---------string:Waiting for the move_base action server to come up
|
||||
time:1713949185.871084037---------string:Waiting for the move_base action server to come up
|
||||
time:1713949190.871178142---------string:Waiting for the move_base action server to come up
|
||||
time:1713949195.871370413---------string:Waiting for the move_base action server to come up
|
||||
time:1713949200.871564211---------string:Waiting for the move_base action server to come up
|
||||
time:1713949205.871759945---------string:Waiting for the move_base action server to come up
|
||||
time:1713949210.871911964---------string:Waiting for the move_base action server to come up
|
||||
time:1713949215.872068804---------string:Waiting for the move_base action server to come up
|
||||
time:1713949220.872214290---------string:Waiting for the move_base action server to come up
|
||||
time:1713949225.872445977---------string:Waiting for the move_base action server to come up
|
||||
time:1713949230.872640203---------string:Waiting for the move_base action server to come up
|
||||
time:1713949235.872788160---------string:Waiting for the move_base action server to come up
|
||||
time:1713949240.872983972---------string:Waiting for the move_base action server to come up
|
||||
time:1713949245.873127366---------string:Waiting for the move_base action server to come up
|
||||
time:1713949250.873291520---------string:Waiting for the move_base action server to come up
|
||||
time:1713949255.873470651---------string:Waiting for the move_base action server to come up
|
||||
time:1713949260.873620215---------string:Waiting for the move_base action server to come up
|
||||
time:1713949265.873761282---------string:Waiting for the move_base action server to come up
|
||||
time:1713949270.873951670---------string:Waiting for the move_base action server to come up
|
||||
time:1713949275.874129125---------string:Waiting for the move_base action server to come up
|
||||
time:1713949280.874356464---------string:Waiting for the move_base action server to come up
|
||||
time:1713949285.874587204---------string:Waiting for the move_base action server to come up
|
||||
time:1713949290.874772565---------string:Waiting for the move_base action server to come up
|
||||
time:1713949295.874936069---------string:Waiting for the move_base action server to come up
|
||||
time:1713949300.875079983---------string:Waiting for the move_base action server to come up
|
||||
time:1713949305.875281499---------string:Waiting for the move_base action server to come up
|
||||
time:1713949310.875457211---------string:Waiting for the move_base action server to come up
|
||||
time:1713949315.875679978---------string:Waiting for the move_base action server to come up
|
||||
time:1713949320.875817457---------string:Waiting for the move_base action server to come up
|
||||
time:1713949325.875885121---------string:Waiting for the move_base action server to come up
|
||||
time:1713949330.876077735---------string:Waiting for the move_base action server to come up
|
||||
time:1713949335.876355701---------string:Waiting for the move_base action server to come up
|
||||
time:1713949340.876554380---------string:Waiting for the move_base action server to come up
|
||||
time:1713949345.876707971---------string:Waiting for the move_base action server to come up
|
||||
time:1713949350.876895849---------string:Waiting for the move_base action server to come up
|
||||
time:1713949355.877045545---------string:Waiting for the move_base action server to come up
|
||||
time:1713949360.877200928---------string:Waiting for the move_base action server to come up
|
||||
time:1713949365.877362703---------string:Waiting for the move_base action server to come up
|
||||
time:1713949370.877501300---------string:Waiting for the move_base action server to come up
|
||||
time:1713949375.877648389---------string:Waiting for the move_base action server to come up
|
||||
time:1713949380.877818705---------string:Waiting for the move_base action server to come up
|
||||
time:1713949385.878004010---------string:Waiting for the move_base action server to come up
|
||||
time:1713949390.878183231---------string:Waiting for the move_base action server to come up
|
||||
time:1713949395.878361822---------string:Waiting for the move_base action server to come up
|
||||
time:1713949400.878577657---------string:Waiting for the move_base action server to come up
|
||||
time:1713949405.878807930---------string:Waiting for the move_base action server to come up
|
||||
time:1713949410.878994312---------string:Waiting for the move_base action server to come up
|
||||
time:1713949415.879194509---------string:Waiting for the move_base action server to come up
|
||||
time:1713949420.879389557---------string:Waiting for the move_base action server to come up
|
||||
time:1713949425.879617082---------string:Waiting for the move_base action server to come up
|
||||
time:1713949430.879830441---------string:Waiting for the move_base action server to come up
|
||||
time:1713949435.880004305---------string:Waiting for the move_base action server to come up
|
||||
time:1713949440.880175138---------string:Waiting for the move_base action server to come up
|
||||
time:1713949445.880353216---------string:Waiting for the move_base action server to come up
|
||||
time:1713949450.880543533---------string:Waiting for the move_base action server to come up
|
||||
time:1713949455.880710897---------string:Waiting for the move_base action server to come up
|
||||
time:1713949460.880877818---------string:Waiting for the move_base action server to come up
|
||||
time:1713949465.881076769---------string:Waiting for the move_base action server to come up
|
||||
time:1713949470.881239604---------string:Waiting for the move_base action server to come up
|
||||
time:1713949475.881325033---------string:Waiting for the move_base action server to come up
|
||||
time:1713949480.881429684---------string:Waiting for the move_base action server to come up
|
||||
time:1713949485.881502068---------string:Waiting for the move_base action server to come up
|
||||
time:1713949490.881574403---------string:Waiting for the move_base action server to come up
|
||||
time:1713949495.881651480---------string:Waiting for the move_base action server to come up
|
||||
time:1713949500.881707817---------string:Waiting for the move_base action server to come up
|
||||
time:1713949505.881796327---------string:Waiting for the move_base action server to come up
|
||||
time:1713949510.881979010---------string:Waiting for the move_base action server to come up
|
||||
time:1713949515.882157482---------string:Waiting for the move_base action server to come up
|
||||
time:1713949520.882321425---------string:Waiting for the move_base action server to come up
|
||||
time:1713949525.882475711---------string:Waiting for the move_base action server to come up
|
||||
time:1713949530.882652012---------string:Waiting for the move_base action server to come up
|
||||
time:1713949535.882817309---------string:Waiting for the move_base action server to come up
|
||||
time:1713949540.882952276---------string:Waiting for the move_base action server to come up
|
||||
time:1713949545.883140519---------string:Waiting for the move_base action server to come up
|
||||
time:1713949550.883348462---------string:Waiting for the move_base action server to come up
|
||||
time:1713949555.883519173---------string:Waiting for the move_base action server to come up
|
||||
time:1713949560.883670097---------string:Waiting for the move_base action server to come up
|
||||
time:1713949565.883870022---------string:Waiting for the move_base action server to come up
|
||||
time:1713949570.884083613---------string:Waiting for the move_base action server to come up
|
||||
time:1713949575.884304138---------string:Waiting for the move_base action server to come up
|
||||
time:1713949580.884518754---------string:Waiting for the move_base action server to come up
|
||||
time:1713949585.884675230---------string:Waiting for the move_base action server to come up
|
||||
time:1713949590.884890784---------string:Waiting for the move_base action server to come up
|
||||
time:1713949595.885088145---------string:Waiting for the move_base action server to come up
|
||||
time:1713949600.885288004---------string:Waiting for the move_base action server to come up
|
||||
time:1713949605.885461207---------string:Waiting for the move_base action server to come up
|
||||
time:1713949610.885638980---------string:Waiting for the move_base action server to come up
|
||||
time:1713949615.885813456---------string:Waiting for the move_base action server to come up
|
||||
time:1713949620.886010021---------string:Waiting for the move_base action server to come up
|
||||
time:1713949625.886277123---------string:Waiting for the move_base action server to come up
|
||||
time:1713949630.886475401---------string:Waiting for the move_base action server to come up
|
||||
time:1713949635.886620047---------string:Waiting for the move_base action server to come up
|
||||
time:1713949640.886779347---------string:Waiting for the move_base action server to come up
|
||||
time:1713949645.886941399---------string:Waiting for the move_base action server to come up
|
||||
time:1713949650.887105368---------string:Waiting for the move_base action server to come up
|
||||
time:1713949655.887299890---------string:Waiting for the move_base action server to come up
|
||||
time:1713949660.887429093---------string:Waiting for the move_base action server to come up
|
||||
time:1713949665.887633015---------string:Waiting for the move_base action server to come up
|
||||
time:1713949670.887833860---------string:Waiting for the move_base action server to come up
|
||||
time:1713949675.888054447---------string:Waiting for the move_base action server to come up
|
||||
time:1713949680.888225460---------string:Waiting for the move_base action server to come up
|
||||
time:1713949685.888307317---------string:Waiting for the move_base action server to come up
|
||||
time:1713949690.888537767---------string:Waiting for the move_base action server to come up
|
||||
time:1713949695.888748055---------string:Waiting for the move_base action server to come up
|
||||
time:1713949700.888942367---------string:Waiting for the move_base action server to come up
|
||||
time:1713949705.889166873---------string:Waiting for the move_base action server to come up
|
||||
time:1713949710.889368887---------string:Waiting for the move_base action server to come up
|
||||
time:1713949715.889538891---------string:Waiting for the move_base action server to come up
|
||||
time:1713949720.889731536---------string:Waiting for the move_base action server to come up
|
||||
time:1713949725.889986301---------string:Waiting for the move_base action server to come up
|
||||
time:1713949730.890176151---------string:Waiting for the move_base action server to come up
|
||||
time:1713949735.890448182---------string:Waiting for the move_base action server to come up
|
||||
time:1713949740.890600134---------string:Waiting for the move_base action server to come up
|
||||
time:1713949745.890743539---------string:Waiting for the move_base action server to come up
|
||||
time:1713949750.890929555---------string:Waiting for the move_base action server to come up
|
||||
time:1713949755.891107570---------string:Waiting for the move_base action server to come up
|
||||
time:1713949760.891264888---------string:Waiting for the move_base action server to come up
|
||||
time:1713949765.891410984---------string:Waiting for the move_base action server to come up
|
||||
time:1713949770.891597911---------string:Waiting for the move_base action server to come up
|
||||
time:1713949775.891777984---------string:Waiting for the move_base action server to come up
|
||||
time:1713949780.891923933---------string:Waiting for the move_base action server to come up
|
||||
time:1713949785.892094236---------string:Waiting for the move_base action server to come up
|
||||
time:1713949790.892319964---------string:Waiting for the move_base action server to come up
|
||||
time:1713949795.892498909---------string:Waiting for the move_base action server to come up
|
||||
time:1713949800.892708803---------string:Waiting for the move_base action server to come up
|
||||
time:1713949805.892887392---------string:Waiting for the move_base action server to come up
|
||||
time:1713949810.893050592---------string:Waiting for the move_base action server to come up
|
||||
time:1713949815.893273227---------string:Waiting for the move_base action server to come up
|
||||
time:1713949820.893488976---------string:Waiting for the move_base action server to come up
|
||||
time:1713949825.893672636---------string:Waiting for the move_base action server to come up
|
||||
time:1713949830.893905450---------string:Waiting for the move_base action server to come up
|
||||
time:1713949835.894125477---------string:Waiting for the move_base action server to come up
|
||||
time:1713949840.894306941---------string:Waiting for the move_base action server to come up
|
||||
time:1713949845.894521183---------string:Waiting for the move_base action server to come up
|
||||
time:1713949850.894698099---------string:Waiting for the move_base action server to come up
|
||||
time:1713949855.894921864---------string:Waiting for the move_base action server to come up
|
||||
time:1713949860.895125294---------string:Waiting for the move_base action server to come up
|
||||
time:1713949865.895295454---------string:Waiting for the move_base action server to come up
|
||||
time:1713949870.895496988---------string:Waiting for the move_base action server to come up
|
||||
time:1713949875.895556568---------string:Waiting for the move_base action server to come up
|
||||
time:1713949880.895736565---------string:Waiting for the move_base action server to come up
|
||||
time:1713949885.895869776---------string:Waiting for the move_base action server to come up
|
||||
time:1713949890.896051471---------string:Waiting for the move_base action server to come up
|
||||
time:1713949895.896189985---------string:Waiting for the move_base action server to come up
|
||||
time:1713949900.896351139---------string:Waiting for the move_base action server to come up
|
||||
time:1713949905.896517056---------string:Waiting for the move_base action server to come up
|
||||
time:1713949910.896723229---------string:Waiting for the move_base action server to come up
|
||||
time:1713949915.896952074---------string:Waiting for the move_base action server to come up
|
||||
time:1713949920.897181049---------string:Waiting for the move_base action server to come up
|
||||
time:1713949925.897390826---------string:Waiting for the move_base action server to come up
|
||||
time:1713949930.897470211---------string:Waiting for the move_base action server to come up
|
||||
time:1713949935.897544822---------string:Waiting for the move_base action server to come up
|
||||
time:1713949940.897756611---------string:Waiting for the move_base action server to come up
|
||||
time:1713949945.897919144---------string:Waiting for the move_base action server to come up
|
||||
time:1713949950.898054220---------string:Waiting for the move_base action server to come up
|
||||
time:1713949955.898225341---------string:Waiting for the move_base action server to come up
|
||||
time:1713949960.898457810---------string:Waiting for the move_base action server to come up
|
||||
time:1713949965.898601656---------string:Waiting for the move_base action server to come up
|
||||
time:1713949970.898773175---------string:Waiting for the move_base action server to come up
|
||||
time:1713949975.898902598---------string:Waiting for the move_base action server to come up
|
||||
time:1713949980.899079975---------string:Waiting for the move_base action server to come up
|
||||
time:1713949985.899241663---------string:Waiting for the move_base action server to come up
|
||||
time:1713949990.899375641---------string:Waiting for the move_base action server to come up
|
||||
time:1713949995.899497595---------string:Waiting for the move_base action server to come up
|
||||
time:1713950000.899646546---------string:Waiting for the move_base action server to come up
|
||||
time:1713950005.899820685---------string:Waiting for the move_base action server to come up
|
||||
time:1713950010.899976790---------string:Waiting for the move_base action server to come up
|
||||
time:1713950015.900143676---------string:Waiting for the move_base action server to come up
|
||||
time:1713950020.900284830---------string:Waiting for the move_base action server to come up
|
||||
time:1713950025.900435778---------string:Waiting for the move_base action server to come up
|
||||
time:1713950030.900583924---------string:Waiting for the move_base action server to come up
|
||||
time:1713950035.900759546---------string:Waiting for the move_base action server to come up
|
||||
time:1713950040.900936638---------string:Waiting for the move_base action server to come up
|
||||
time:1713950045.901098816---------string:Waiting for the move_base action server to come up
|
||||
time:1713950050.901304067---------string:Waiting for the move_base action server to come up
|
||||
time:1713950055.901491680---------string:Waiting for the move_base action server to come up
|
||||
time:1713950060.901726350---------string:Waiting for the move_base action server to come up
|
||||
time:1713950065.901949410---------string:Waiting for the move_base action server to come up
|
||||
time:1713950070.902057865---------string:Waiting for the move_base action server to come up
|
||||
time:1713950075.902150536---------string:Waiting for the move_base action server to come up
|
||||
time:1713950080.902239627---------string:Waiting for the move_base action server to come up
|
||||
time:1713950085.902318680---------string:Waiting for the move_base action server to come up
|
||||
time:1713950090.902409524---------string:Waiting for the move_base action server to come up
|
||||
time:1713950095.902499285---------string:Waiting for the move_base action server to come up
|
||||
time:1713950100.902601920---------string:Waiting for the move_base action server to come up
|
||||
time:1713950105.902777758---------string:Waiting for the move_base action server to come up
|
||||
time:1713950110.902920019---------string:Waiting for the move_base action server to come up
|
||||
time:1713950115.903086701---------string:Waiting for the move_base action server to come up
|
||||
time:1713950120.903271643---------string:Waiting for the move_base action server to come up
|
||||
time:1713950125.903455558---------string:Waiting for the move_base action server to come up
|
||||
time:1713950130.903618870---------string:Waiting for the move_base action server to come up
|
||||
time:1713950135.903793623---------string:Waiting for the move_base action server to come up
|
||||
time:1713950140.903943034---------string:Waiting for the move_base action server to come up
|
||||
time:1713950145.904091568---------string:Waiting for the move_base action server to come up
|
||||
time:1713950150.904227815---------string:Waiting for the move_base action server to come up
|
||||
time:1713950155.904389657---------string:Waiting for the move_base action server to come up
|
||||
time:1713950160.904600685---------string:Waiting for the move_base action server to come up
|
||||
time:1713950165.904850075---------string:Waiting for the move_base action server to come up
|
||||
time:1713950170.905092885---------string:Waiting for the move_base action server to come up
|
||||
time:1713950175.905309542---------string:Waiting for the move_base action server to come up
|
||||
time:1713950180.905452479---------string:Waiting for the move_base action server to come up
|
||||
time:1713950185.905666029---------string:Waiting for the move_base action server to come up
|
||||
time:1713950190.905864711---------string:Waiting for the move_base action server to come up
|
||||
time:1713950195.906043831---------string:Waiting for the move_base action server to come up
|
||||
time:1713950200.906194613---------string:Waiting for the move_base action server to come up
|
||||
time:1713950205.906444185---------string:Waiting for the move_base action server to come up
|
||||
time:1713950210.906609368---------string:Waiting for the move_base action server to come up
|
||||
time:1713950215.906790463---------string:Waiting for the move_base action server to come up
|
||||
time:1713950220.906960903---------string:Waiting for the move_base action server to come up
|
||||
time:1713950225.907157119---------string:Waiting for the move_base action server to come up
|
||||
time:1713950230.907410000---------string:Waiting for the move_base action server to come up
|
||||
time:1713950235.907646026---------string:Waiting for the move_base action server to come up
|
||||
time:1713950240.907821137---------string:Waiting for the move_base action server to come up
|
||||
time:1713950245.908008803---------string:Waiting for the move_base action server to come up
|
||||
time:1713950250.908216161---------string:Waiting for the move_base action server to come up
|
||||
time:1713950255.908374400---------string:Waiting for the move_base action server to come up
|
||||
time:1713950260.908589174---------string:Waiting for the move_base action server to come up
|
||||
time:1713950265.908786072---------string:Waiting for the move_base action server to come up
|
||||
time:1713950270.908966769---------string:Waiting for the move_base action server to come up
|
||||
time:1713950275.909118941---------string:Waiting for the move_base action server to come up
|
||||
time:1713950280.909288925---------string:Waiting for the move_base action server to come up
|
||||
time:1713950285.909439554---------string:Waiting for the move_base action server to come up
|
||||
time:1713950290.909613338---------string:Waiting for the move_base action server to come up
|
||||
time:1713950295.909813977---------string:Waiting for the move_base action server to come up
|
||||
time:1713950300.909949437---------string:Waiting for the move_base action server to come up
|
||||
time:1713950305.910081745---------string:Waiting for the move_base action server to come up
|
||||
time:1713950310.910269417---------string:Waiting for the move_base action server to come up
|
||||
time:1713950315.910490996---------string:Waiting for the move_base action server to come up
|
||||
time:1713950320.910649481---------string:Waiting for the move_base action server to come up
|
||||
time:1713950325.910787033---------string:Waiting for the move_base action server to come up
|
||||
time:1713950330.910949565---------string:Waiting for the move_base action server to come up
|
||||
time:1713950335.911213906---------string:Waiting for the move_base action server to come up
|
||||
time:1713950340.911452115---------string:Waiting for the move_base action server to come up
|
||||
time:1713950345.911604205---------string:Waiting for the move_base action server to come up
|
||||
time:1713950350.911790150---------string:Waiting for the move_base action server to come up
|
||||
time:1713950355.911948776---------string:Waiting for the move_base action server to come up
|
||||
time:1713950360.912146686---------string:Waiting for the move_base action server to come up
|
||||
time:1713950365.912331152---------string:Waiting for the move_base action server to come up
|
||||
time:1713950370.912492309---------string:Waiting for the move_base action server to come up
|
||||
time:1713950375.912631965---------string:Waiting for the move_base action server to come up
|
||||
time:1713950380.912844110---------string:Waiting for the move_base action server to come up
|
||||
time:1713950385.913019696---------string:Waiting for the move_base action server to come up
|
||||
time:1713950390.913195799---------string:Waiting for the move_base action server to come up
|
||||
time:1713950395.913361938---------string:Waiting for the move_base action server to come up
|
||||
time:1713950400.913597495---------string:Waiting for the move_base action server to come up
|
||||
time:1713950405.913813231---------string:Waiting for the move_base action server to come up
|
||||
time:1713950410.914013243---------string:Waiting for the move_base action server to come up
|
||||
time:1713950415.914192864---------string:Waiting for the move_base action server to come up
|
||||
time:1713950420.914544615---------string:Waiting for the move_base action server to come up
|
||||
time:1713950425.914763084---------string:Waiting for the move_base action server to come up
|
||||
time:1713950430.914986535---------string:Waiting for the move_base action server to come up
|
||||
time:1713950435.915194535---------string:Waiting for the move_base action server to come up
|
||||
time:1713950440.915399017---------string:Waiting for the move_base action server to come up
|
||||
time:1713950445.915561738---------string:Waiting for the move_base action server to come up
|
||||
time:1713950450.915645623---------string:Waiting for the move_base action server to come up
|
||||
time:1713950455.915736108---------string:Waiting for the move_base action server to come up
|
||||
time:1713950460.915937875---------string:Waiting for the move_base action server to come up
|
||||
time:1713950465.916100363---------string:Waiting for the move_base action server to come up
|
||||
time:1713950470.916252686---------string:Waiting for the move_base action server to come up
|
||||
time:1713950475.916431834---------string:Waiting for the move_base action server to come up
|
||||
time:1713950480.916557816---------string:Waiting for the move_base action server to come up
|
||||
time:1713950485.916689208---------string:Waiting for the move_base action server to come up
|
||||
time:1713950490.916835856---------string:Waiting for the move_base action server to come up
|
||||
time:1713950495.916977857---------string:Waiting for the move_base action server to come up
|
||||
time:1713950500.917164137---------string:Waiting for the move_base action server to come up
|
||||
time:1713950505.917297769---------string:Waiting for the move_base action server to come up
|
||||
time:1713950510.917501470---------string:Waiting for the move_base action server to come up
|
||||
time:1713950515.917643011---------string:Waiting for the move_base action server to come up
|
||||
time:1713950520.917818558---------string:Waiting for the move_base action server to come up
|
||||
time:1713950525.917961511---------string:Waiting for the move_base action server to come up
|
||||
time:1713950530.918126314---------string:Waiting for the move_base action server to come up
|
||||
time:1713950535.918297989---------string:Waiting for the move_base action server to come up
|
||||
time:1713950540.918479055---------string:Waiting for the move_base action server to come up
|
||||
time:1713950545.918661520---------string:Waiting for the move_base action server to come up
|
||||
time:1713950550.918889897---------string:Waiting for the move_base action server to come up
|
||||
time:1713950555.919074811---------string:Waiting for the move_base action server to come up
|
||||
time:1713950560.919246183---------string:Waiting for the move_base action server to come up
|
||||
time:1713950565.919383758---------string:Waiting for the move_base action server to come up
|
||||
time:1713950570.919518621---------string:Waiting for the move_base action server to come up
|
||||
time:1713950575.919711021---------string:Waiting for the move_base action server to come up
|
||||
time:1713950580.919874191---------string:Waiting for the move_base action server to come up
|
||||
time:1713950585.920028120---------string:Waiting for the move_base action server to come up
|
||||
time:1713950590.920224589---------string:Waiting for the move_base action server to come up
|
||||
time:1713950595.920407452---------string:Waiting for the move_base action server to come up
|
||||
time:1713950600.920564892---------string:Waiting for the move_base action server to come up
|
||||
time:1713950605.920723593---------string:Waiting for the move_base action server to come up
|
||||
time:1713950610.920887197---------string:Waiting for the move_base action server to come up
|
||||
time:1713950615.921085298---------string:Waiting for the move_base action server to come up
|
||||
time:1713950620.921352450---------string:Waiting for the move_base action server to come up
|
||||
time:1713950625.921638322---------string:Waiting for the move_base action server to come up
|
||||
time:1713950630.921850578---------string:Waiting for the move_base action server to come up
|
||||
time:1713950635.922047684---------string:Waiting for the move_base action server to come up
|
||||
time:1713950640.922229474---------string:Waiting for the move_base action server to come up
|
||||
time:1713950645.922431360---------string:Waiting for the move_base action server to come up
|
||||
time:1713950650.922602128---------string:Waiting for the move_base action server to come up
|
||||
time:1713950655.922772520---------string:Waiting for the move_base action server to come up
|
||||
time:1713950660.923024029---------string:Waiting for the move_base action server to come up
|
||||
time:1713950665.923159594---------string:Waiting for the move_base action server to come up
|
||||
time:1713950670.923290164---------string:Waiting for the move_base action server to come up
|
||||
time:1713950675.923441515---------string:Waiting for the move_base action server to come up
|
||||
time:1713950680.923651376---------string:Waiting for the move_base action server to come up
|
||||
time:1713950685.923885727---------string:Waiting for the move_base action server to come up
|
||||
time:1713950690.924081083---------string:Waiting for the move_base action server to come up
|
||||
time:1713950695.924265545---------string:Waiting for the move_base action server to come up
|
||||
time:1713950700.924482380---------string:Waiting for the move_base action server to come up
|
||||
time:1713950705.924650014---------string:Waiting for the move_base action server to come up
|
||||
time:1713950710.924779918---------string:Waiting for the move_base action server to come up
|
||||
time:1713950715.924943935---------string:Waiting for the move_base action server to come up
|
||||
time:1713950720.925116198---------string:Waiting for the move_base action server to come up
|
||||
time:1713950725.925286002---------string:Waiting for the move_base action server to come up
|
||||
time:1713950730.925483771---------string:Waiting for the move_base action server to come up
|
||||
time:1713950735.925642501---------string:Waiting for the move_base action server to come up
|
||||
time:1713950740.925796987---------string:Waiting for the move_base action server to come up
|
||||
time:1713950745.926009148---------string:Waiting for the move_base action server to come up
|
||||
time:1713950750.926162102---------string:Waiting for the move_base action server to come up
|
||||
time:1713950755.926321264---------string:Waiting for the move_base action server to come up
|
||||
time:1713950760.926447336---------string:Waiting for the move_base action server to come up
|
||||
time:1713950765.926610686---------string:Waiting for the move_base action server to come up
|
||||
time:1713950770.926797680---------string:Waiting for the move_base action server to come up
|
||||
time:1713950775.927047475---------string:Waiting for the move_base action server to come up
|
||||
time:1713950780.927197391---------string:Waiting for the move_base action server to come up
|
||||
time:1713950785.927353958---------string:Waiting for the move_base action server to come up
|
||||
time:1713950790.927530661---------string:Waiting for the move_base action server to come up
|
||||
time:1713950795.927696652---------string:Waiting for the move_base action server to come up
|
||||
time:1713950800.927819329---------string:Waiting for the move_base action server to come up
|
||||
time:1713950805.927894382---------string:Waiting for the move_base action server to come up
|
||||
time:1713950810.928161336---------string:Waiting for the move_base action server to come up
|
||||
time:1713950815.928352792---------string:Waiting for the move_base action server to come up
|
||||
time:1713950820.928577897---------string:Waiting for the move_base action server to come up
|
||||
time:1713950825.928755334---------string:Waiting for the move_base action server to come up
|
||||
time:1713950830.928942038---------string:Waiting for the move_base action server to come up
|
||||
time:1713950835.929108316---------string:Waiting for the move_base action server to come up
|
||||
time:1713950840.929287768---------string:Waiting for the move_base action server to come up
|
||||
time:1713950845.929488615---------string:Waiting for the move_base action server to come up
|
||||
time:1713950850.929671828---------string:Waiting for the move_base action server to come up
|
||||
time:1713950855.929821711---------string:Waiting for the move_base action server to come up
|
||||
time:1713950860.930011233---------string:Waiting for the move_base action server to come up
|
||||
time:1713950865.930162279---------string:Waiting for the move_base action server to come up
|
||||
time:1713950870.930359774---------string:Waiting for the move_base action server to come up
|
||||
time:1713950875.930537850---------string:Waiting for the move_base action server to come up
|
||||
time:1713950880.930740891---------string:Waiting for the move_base action server to come up
|
||||
time:1713950885.930835943---------string:Waiting for the move_base action server to come up
|
||||
time:1713950890.930950511---------string:Waiting for the move_base action server to come up
|
||||
time:1713950895.931173891---------string:Waiting for the move_base action server to come up
|
||||
time:1713950900.931356503---------string:Waiting for the move_base action server to come up
|
||||
time:1713950905.931503348---------string:Waiting for the move_base action server to come up
|
||||
time:1713950910.931718304---------string:Waiting for the move_base action server to come up
|
||||
time:1713950915.931911288---------string:Waiting for the move_base action server to come up
|
||||
time:1713950920.932062800---------string:Waiting for the move_base action server to come up
|
||||
time:1713950925.932213421---------string:Waiting for the move_base action server to come up
|
||||
time:1713950930.932359401---------string:Waiting for the move_base action server to come up
|
||||
time:1713950935.932530819---------string:Waiting for the move_base action server to come up
|
||||
time:1713950940.932663839---------string:Waiting for the move_base action server to come up
|
||||
time:1713950945.932848332---------string:Waiting for the move_base action server to come up
|
||||
time:1713950950.933037960---------string:Waiting for the move_base action server to come up
|
||||
time:1713950955.933240926---------string:Waiting for the move_base action server to come up
|
||||
time:1713950960.933421682---------string:Waiting for the move_base action server to come up
|
||||
time:1713950965.933581720---------string:Waiting for the move_base action server to come up
|
||||
time:1713950970.933775617---------string:Waiting for the move_base action server to come up
|
||||
time:1713950975.933937782---------string:Waiting for the move_base action server to come up
|
||||
time:1713950980.934129496---------string:Waiting for the move_base action server to come up
|
||||
time:1713950985.934305875---------string:Waiting for the move_base action server to come up
|
||||
time:1713950990.934494368---------string:Waiting for the move_base action server to come up
|
||||
time:1713950995.934615673---------string:Waiting for the move_base action server to come up
|
||||
time:1713951000.934816818---------string:Waiting for the move_base action server to come up
|
||||
time:1713951005.934893960---------string:Waiting for the move_base action server to come up
|
||||
time:1713951010.934955920---------string:Waiting for the move_base action server to come up
|
||||
time:1713951015.935183556---------string:Waiting for the move_base action server to come up
|
||||
time:1713951020.935346776---------string:Waiting for the move_base action server to come up
|
||||
time:1713951025.935475063---------string:Waiting for the move_base action server to come up
|
||||
time:1713951030.935700861---------string:Waiting for the move_base action server to come up
|
||||
time:1713951035.935909863---------string:Waiting for the move_base action server to come up
|
||||
time:1713951040.936070596---------string:Waiting for the move_base action server to come up
|
||||
time:1713951045.936230918---------string:Waiting for the move_base action server to come up
|
||||
time:1713951050.936420895---------string:Waiting for the move_base action server to come up
|
||||
time:1713951055.936570845---------string:Waiting for the move_base action server to come up
|
||||
time:1713951060.936727748---------string:Waiting for the move_base action server to come up
|
||||
time:1713951065.936889296---------string:Waiting for the move_base action server to come up
|
||||
time:1713951070.937024595---------string:Waiting for the move_base action server to come up
|
||||
time:1713951075.937180916---------string:Waiting for the move_base action server to come up
|
||||
time:1713951080.937311909---------string:Waiting for the move_base action server to come up
|
||||
time:1713951085.937536884---------string:Waiting for the move_base action server to come up
|
||||
time:1713951090.937728115---------string:Waiting for the move_base action server to come up
|
||||
time:1713951095.937853248---------string:Waiting for the move_base action server to come up
|
||||
time:1713951100.938073009---------string:Waiting for the move_base action server to come up
|
||||
time:1713951105.938279212---------string:Waiting for the move_base action server to come up
|
||||
time:1713951110.938384961---------string:Waiting for the move_base action server to come up
|
||||
time:1713951115.938467857---------string:Waiting for the move_base action server to come up
|
||||
time:1713951120.938559419---------string:Waiting for the move_base action server to come up
|
||||
time:1713951125.938764082---------string:Waiting for the move_base action server to come up
|
||||
time:1713951130.938931364---------string:Waiting for the move_base action server to come up
|
||||
time:1713951135.939118450---------string:Waiting for the move_base action server to come up
|
||||
time:1713951140.939298525---------string:Waiting for the move_base action server to come up
|
||||
time:1713951145.939530521---------string:Waiting for the move_base action server to come up
|
||||
time:1713951150.939738624---------string:Waiting for the move_base action server to come up
|
||||
time:1713951155.939975931---------string:Waiting for the move_base action server to come up
|
||||
time:1713951160.940153211---------string:Waiting for the move_base action server to come up
|
||||
time:1713951165.940298771---------string:Waiting for the move_base action server to come up
|
||||
time:1713951170.940463376---------string:Waiting for the move_base action server to come up
|
||||
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|
||||
time:1714122238.422042524---------string:ultrasonic检测到物体
|
||||
time:1714122238.455914035---------string:ultrasonic检测到物体
|
||||
time:1714122238.475765605---------string:transform1178行
|
||||
time:1714122238.490024132---------string:ultrasonic检测到物体
|
||||
time:1714122238.523943477---------string:ultrasonic检测到物体
|
||||
time:1714122238.557924073---------string:ultrasonic检测到物体
|
||||
time:1714122238.624335627---------string:ultrasonic检测到物体
|
||||
time:1714122238.626034306---------string:transform1178行
|
||||
time:1714122238.656924087---------string:ultrasonic检测到物体
|
||||
time:1714122238.691046142---------string:ultrasonic检测到物体
|
||||
time:1714122238.724905986---------string:ultrasonic检测到物体
|
||||
time:1714122238.760204634---------string:ultrasonic检测到物体
|
||||
time:1714122238.776334216---------string:transform1178行
|
||||
time:1714122238.794025686---------string:ultrasonic检测到物体
|
||||
time:1714122238.828132866---------string:ultrasonic检测到物体
|
||||
time:1714122238.894081542---------string:ultrasonic检测到物体
|
||||
time:1714122238.926622168---------string:transform1178行
|
||||
time:1714122238.927022337---------string:ultrasonic检测到物体
|
||||
time:1714122238.966937229---------string:ultrasonic检测到物体
|
||||
time:1714122238.995112155---------string:ultrasonic检测到物体
|
||||
time:1714122239.029029750---------string:ultrasonic检测到物体
|
||||
time:1714122239.062896303---------string:ultrasonic检测到物体
|
||||
time:1714122239.076935494---------string:transform1178行
|
||||
time:1714122239.096995607---------string:ultrasonic检测到物体
|
||||
time:1714122239.162940491---------string:ultrasonic检测到物体
|
||||
time:1714122239.196035580---------string:ultrasonic检测到物体
|
||||
time:1714122239.227245029---------string:transform1178行
|
||||
time:1714122239.230000426---------string:ultrasonic检测到物体
|
||||
time:1714122239.263985396---------string:ultrasonic检测到物体
|
||||
time:1714122239.297900658---------string:ultrasonic检测到物体
|
||||
time:1714122239.331946004---------string:ultrasonic检测到物体
|
||||
time:1714122239.365940016---------string:ultrasonic检测到物体
|
||||
time:1714122239.377605315---------string:transform1178行
|
||||
time:1714122239.431967151---------string:ultrasonic检测到物体
|
||||
time:1714122239.464930697---------string:ultrasonic检测到物体
|
||||
time:1714122239.499998343---------string:ultrasonic检测到物体
|
||||
time:1714122239.527901725---------string:transform1178行
|
||||
time:1714122239.534932695---------string:ultrasonic检测到物体
|
||||
time:1714122239.569081876---------string:ultrasonic检测到物体
|
||||
time:1714122239.602916053---------string:ultrasonic检测到物体
|
||||
time:1714122239.647194312---------string:ultrasonic检测到物体
|
||||
time:1714122239.678205426---------string:transform1178行
|
||||
time:1714122239.702922617---------string:ultrasonic检测到物体
|
||||
time:1714122239.736154498---------string:ultrasonic检测到物体
|
||||
time:1714122239.770018718---------string:ultrasonic检测到物体
|
||||
time:1714122239.803935730---------string:ultrasonic检测到物体
|
||||
time:1714122239.828689962---------string:transform1178行
|
||||
time:1714122239.839027584---------string:ultrasonic检测到物体
|
||||
time:1714122239.872924762---------string:ultrasonic检测到物体
|
||||
time:1714122239.906994900---------string:ultrasonic检测到物体
|
||||
time:1714122239.973002201---------string:ultrasonic检测到物体
|
||||
time:1714122239.979105665---------string:transform1178行
|
||||
time:1714122240.006127915---------string:ultrasonic检测到物体
|
||||
time:1714122240.040882600---------string:ultrasonic检测到物体
|
||||
time:1714122240.077255464---------string:ultrasonic检测到物体
|
||||
time:1714122240.113064240---------string:ultrasonic检测到物体
|
||||
time:1714122240.129540326---------string:transform1178行
|
||||
time:1714122240.146999627---------string:ultrasonic检测到物体
|
||||
time:1714122240.182057356---------string:ultrasonic检测到物体
|
||||
time:1714122240.247966073---------string:ultrasonic检测到物体
|
||||
time:1714122240.279958362---------string:transform1178行
|
||||
time:1714122240.280910078---------string:ultrasonic检测到物体
|
||||
time:1714122240.314996549---------string:ultrasonic检测到物体
|
||||
time:1714122240.348934853---------string:ultrasonic检测到物体
|
||||
time:1714122240.382955115---------string:ultrasonic检测到物体
|
||||
time:1714122240.416891377---------string:ultrasonic检测到物体
|
||||
time:1714122240.430474690---------string:transform1178行
|
||||
time:1714122240.450867598---------string:ultrasonic检测到物体
|
||||
time:1714122240.517116401---------string:ultrasonic检测到物体
|
||||
time:1714122240.549939946---------string:ultrasonic检测到物体
|
||||
time:1714122240.580829726---------string:transform1178行
|
||||
time:1714122240.583894291---------string:ultrasonic检测到物体
|
||||
time:1714122240.619016187---------string:ultrasonic检测到物体
|
||||
time:1714122240.652944574---------string:ultrasonic检测到物体
|
||||
time:1714122240.687154713---------string:ultrasonic检测到物体
|
||||
time:1714122240.721126558---------string:ultrasonic检测到物体
|
||||
time:1714122240.731228511---------string:transform1178行
|
||||
time:1714122240.881597839---------string:transform1178行
|
||||
time:1714122241.031916124---------string:transform1178行
|
||||
time:1714122241.182223325---------string:transform1178行
|
||||
time:1714122241.332529069---------string:transform1178行
|
||||
time:1714122241.482852313---------string:transform1178行
|
||||
time:1714122241.633153681---------string:transform1178行
|
||||
time:1714122241.783471674---------string:transform1178行
|
||||
time:1714122241.933780918---------string:transform1178行
|
||||
time:1714122242.084126037---------string:transform1178行
|
||||
time:1714122242.084330205---------string:current goal could be reached.
|
||||
time:1714122242.146322684---------string:0.000000
|
||||
time:1714122242.146434684---------string:1
|
||||
time:1714122242.146515477---------string:stop!!
|
||||
time:1714122242.146598311---------string:turn right
|
||||
time:1714122243.804983154---------string:ultrasonic检测到物体
|
||||
time:1714122243.838092535---------string:ultrasonic检测到物体
|
||||
time:1714122243.872119797---------string:ultrasonic检测到物体
|
||||
time:1714122243.906089601---------string:ultrasonic检测到物体
|
||||
time:1714122243.940085072---------string:ultrasonic检测到物体
|
||||
time:1714122243.975018842---------string:ultrasonic检测到物体
|
||||
time:1714122244.010122071---------string:ultrasonic检测到物体
|
||||
time:1714122244.077205047---------string:ultrasonic检测到物体
|
||||
time:1714122244.110177052---------string:ultrasonic检测到物体
|
||||
time:1714122244.144991237---------string:ultrasonic检测到物体
|
||||
time:1714122244.146667750---------string:stop!!
|
||||
time:1714122244.179026958---------string:ultrasonic检测到物体
|
||||
time:1714122244.213120138---------string:ultrasonic检测到物体
|
||||
time:1714122244.247096067---------string:ultrasonic检测到物体
|
||||
time:1714122244.281172622---------string:ultrasonic检测到物体
|
||||
time:1714122244.347046630---------string:ultrasonic检测到物体
|
||||
time:1714122244.380125386---------string:ultrasonic检测到物体
|
||||
time:1714122244.416051705---------string:ultrasonic检测到物体
|
||||
time:1714122244.450004883---------string:ultrasonic检测到物体
|
||||
time:1714122244.485043946---------string:ultrasonic检测到物体
|
||||
time:1714122244.528596240---------string:ultrasonic检测到物体
|
||||
time:1714122244.556088661---------string:ultrasonic检测到物体
|
||||
time:1714122244.619988654---------string:ultrasonic检测到物体
|
||||
time:1714122244.652976117---------string:ultrasonic检测到物体
|
||||
time:1714122244.687994762---------string:ultrasonic检测到物体
|
||||
time:1714122244.722121776---------string:ultrasonic检测到物体
|
||||
time:1714122244.756142914---------string:ultrasonic检测到物体
|
||||
time:1714122244.791126267---------string:ultrasonic检测到物体
|
||||
time:1714122244.826088329---------string:ultrasonic检测到物体
|
||||
time:1714122244.892014254---------string:ultrasonic检测到物体
|
||||
time:1714122244.925058301---------string:ultrasonic检测到物体
|
||||
time:1714122244.961145038---------string:ultrasonic检测到物体
|
||||
time:1714122244.995166176---------string:ultrasonic检测到物体
|
||||
time:1714122245.030164404---------string:ultrasonic检测到物体
|
||||
time:1714122245.063977582---------string:ultrasonic检测到物体
|
||||
time:1714122245.099067686---------string:ultrasonic检测到物体
|
||||
time:1714122245.165070612---------string:ultrasonic检测到物体
|
||||
time:1714122245.198106784---------string:ultrasonic检测到物体
|
||||
time:1714122245.232077755---------string:ultrasonic检测到物体
|
||||
time:1714122245.266047267---------string:ultrasonic检测到物体
|
||||
time:1714122245.299950570---------string:ultrasonic检测到物体
|
||||
time:1714122245.334069709---------string:ultrasonic检测到物体
|
||||
time:1714122245.367959887---------string:ultrasonic检测到物体
|
||||
time:1714122245.434047981---------string:ultrasonic检测到物体
|
||||
time:1714122245.467094653---------string:ultrasonic检测到物体
|
||||
time:1714122245.500991831---------string:ultrasonic检测到物体
|
||||
time:1714122245.535000427---------string:ultrasonic检测到物体
|
||||
time:1714122245.569015148---------string:ultrasonic检测到物体
|
||||
time:1714122245.603055536---------string:ultrasonic检测到物体
|
||||
time:1714122245.637323133---------string:ultrasonic检测到物体
|
||||
time:1714122245.712095377---------string:ultrasonic检测到物体
|
||||
time:1714122245.736181980---------string:ultrasonic检测到物体
|
||||
time:1714122245.769983199---------string:ultrasonic检测到物体
|
||||
time:1714122245.804025046---------string:ultrasonic检测到物体
|
||||
time:1714122245.838134851---------string:ultrasonic检测到物体
|
||||
time:1714122245.872399823---------string:ultrasonic检测到物体
|
||||
time:1714122245.905979083---------string:ultrasonic检测到物体
|
||||
time:1714122246.241178129---------string:ultrasonic检测到物体
|
||||
time:1714122246.274218968---------string:ultrasonic检测到物体
|
||||
time:1714122246.308129563---------string:ultrasonic检测到物体
|
||||
time:1714122246.341977449---------string:ultrasonic检测到物体
|
||||
time:1714122246.380661206---------string:ultrasonic检测到物体
|
||||
time:1714122246.410058225---------string:ultrasonic检测到物体
|
||||
time:1714122246.443957445---------string:ultrasonic检测到物体
|
||||
time:1714122246.510100664---------string:ultrasonic检测到物体
|
||||
time:1714122246.543305420---------string:ultrasonic检测到物体
|
||||
time:1714122246.577106056---------string:ultrasonic检测到物体
|
||||
time:1714122246.611200695---------string:ultrasonic检测到物体
|
||||
time:1714122246.645133457---------string:ultrasonic检测到物体
|
||||
time:1714122246.679226637---------string:ultrasonic检测到物体
|
||||
time:1714122246.713156190---------string:ultrasonic检测到物体
|
||||
time:1714122246.779317201---------string:ultrasonic检测到物体
|
||||
time:1714122246.812112746---------string:ultrasonic检测到物体
|
||||
time:1714122246.846204176---------string:ultrasonic检测到物体
|
||||
time:1714122246.880197022---------string:ultrasonic检测到物体
|
||||
time:1714122246.914169742---------string:ultrasonic检测到物体
|
||||
time:1714122246.949185179---------string:ultrasonic检测到物体
|
||||
time:1714122246.983249192---------string:ultrasonic检测到物体
|
||||
time:1714122247.049091701---------string:ultrasonic检测到物体
|
||||
time:1714122247.082172498---------string:ultrasonic检测到物体
|
||||
time:1714122247.115962925---------string:ultrasonic检测到物体
|
||||
time:1714122247.149930104---------string:ultrasonic检测到物体
|
||||
time:1714122247.184165910---------string:ultrasonic检测到物体
|
||||
time:1714122247.226061817---------string:ultrasonic检测到物体
|
||||
time:1714122247.253128985---------string:ultrasonic检测到物体
|
||||
time:1714122248.146924470---------string:stop!!
|
||||
time:1714122248.147131555---------string:turn left
|
||||
time:1714122250.147204501---------string:stop!!
|
||||
time:1714122256.147536522---------string:stop!!
|
||||
time:1714122256.502453556---------string:Sending goal with eps
|
||||
time:1714122256.502584223---------string:0.968750
|
||||
time:1714122257.002193251---------string:transform1178行
|
||||
time:1714122257.152613038---------string:transform1178行
|
||||
time:1714122257.303051784---------string:transform1178行
|
||||
time:1714122257.453423738---------string:transform1178行
|
||||
time:1714122257.603755441---------string:transform1178行
|
||||
time:1714122257.754073436---------string:transform1178行
|
||||
time:1714122257.904455015---------string:transform1178行
|
||||
time:1714122258.054872469---------string:transform1178行
|
||||
time:1714122258.205248506---------string:transform1178行
|
||||
time:1714122258.355656335---------string:transform1178行
|
||||
time:1714122258.506070289---------string:transform1178行
|
||||
time:1714122258.656465576---------string:transform1178行
|
||||
time:1714122258.806892947---------string:transform1178行
|
||||
time:1714122258.957309818---------string:transform1178行
|
||||
time:1714122259.107816523---------string:transform1178行
|
||||
time:1714122259.258359395---------string:transform1178行
|
||||
time:1714122259.408771016---------string:transform1178行
|
||||
time:1714122259.559185845---------string:transform1178行
|
||||
time:1714122259.709588716---------string:transform1178行
|
||||
time:1714122259.860010836---------string:transform1178行
|
||||
time:1714122260.010416624---------string:transform1178行
|
||||
time:1714122260.160827370---------string:transform1178行
|
||||
time:1714122260.311334658---------string:transform1178行
|
||||
time:1714122260.461656153---------string:transform1178行
|
||||
time:1714122260.612040941---------string:transform1178行
|
||||
time:1714122260.762462187---------string:transform1178行
|
||||
time:1714122260.912870016---------string:transform1178行
|
||||
time:1714122261.063238178---------string:transform1178行
|
||||
time:1714122261.213515923---------string:transform1178行
|
||||
time:1714122261.363829252---------string:transform1178行
|
||||
time:1714122261.514151622---------string:transform1178行
|
||||
time:1714122261.664524160---------string:transform1178行
|
||||
time:1714122261.814943947---------string:transform1178行
|
||||
time:1714122261.965374527---------string:transform1178行
|
||||
time:1714122262.115789648---------string:transform1178行
|
||||
time:1714122262.266214977---------string:transform1178行
|
||||
time:1714122262.416614348---------string:transform1178行
|
||||
time:1714122262.567015178---------string:transform1178行
|
||||
time:1714122262.717379840---------string:transform1178行
|
||||
time:1714122262.867689960---------string:transform1178行
|
||||
time:1714122263.018006789---------string:transform1178行
|
||||
time:1714122263.168324785---------string:transform1178行
|
||||
time:1714122263.318653864---------string:transform1178行
|
||||
time:1714122263.468960192---------string:transform1178行
|
||||
time:1714122263.619304146---------string:transform1178行
|
||||
time:1714122263.769633225---------string:transform1178行
|
||||
time:1714122263.919948304---------string:transform1178行
|
||||
time:1714122264.070272133---------string:transform1178行
|
||||
time:1714122264.220609087---------string:transform1178行
|
||||
time:1714122264.264238966---------string:ultrasonic检测到物体
|
||||
time:1714122264.297326763---------string:ultrasonic检测到物体
|
||||
time:1714122264.331280817---------string:ultrasonic检测到物体
|
||||
time:1714122264.365257330---------string:ultrasonic检测到物体
|
||||
time:1714122264.370905790---------string:transform1178行
|
||||
time:1714122264.399379386---------string:ultrasonic检测到物体
|
||||
time:1714122264.438829649---------string:ultrasonic检测到物体
|
||||
time:1714122264.467296244---------string:ultrasonic检测到物体
|
||||
time:1714122264.521237203---------string:transform1178行
|
||||
time:1714122264.533431005---------string:ultrasonic检测到物体
|
||||
time:1714122264.566496053---------string:ultrasonic检测到物体
|
||||
time:1714122264.600247689---------string:ultrasonic检测到物体
|
||||
time:1714122264.638259733---------string:ultrasonic检测到物体
|
||||
time:1714122264.668175047---------string:ultrasonic检测到物体
|
||||
time:1714122264.671520490---------string:transform1178行
|
||||
time:1714122264.702352520---------string:ultrasonic检测到物体
|
||||
time:1714122264.736268949---------string:ultrasonic检测到物体
|
||||
time:1714122264.802301042---------string:ultrasonic检测到物体
|
||||
time:1714122264.821861527---------string:transform1178行
|
||||
time:1714122264.835231922---------string:ultrasonic检测到物体
|
||||
time:1714122264.869159143---------string:ultrasonic检测到物体
|
||||
time:1714122264.903261365---------string:ultrasonic检测到物体
|
||||
time:1714122264.937087668---------string:ultrasonic检测到物体
|
||||
time:1714122264.971295474---------string:ultrasonic检测到物体
|
||||
time:1714122264.972131106---------string:transform1178行
|
||||
time:1714122265.006194244---------string:ultrasonic检测到物体
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
time:1714122270.084104680---------string:transform1178行
|
||||
time:1714122270.084272973---------string:current goal could be reached.
|
||||
time:1714122270.145402987---------string:0.968750
|
||||
time:1714122270.145545614---------string:3
|
||||
time:1714122270.145659948---------string:stop!!
|
||||
time:1714122270.145741323---------string:turn right
|
||||
time:1714122272.145932712---------string:stop!!
|
||||
time:1714122276.146191829---------string:stop!!
|
||||
time:1714122276.146258913---------string:turn left
|
||||
time:1714122278.146319641---------string:stop!!
|
||||
time:1714122284.146514379---------string:stop!!
|
||||
time:1714122289.161333671---------string:Waiting for the move_base action server to come up
|
||||
time:1714122294.161497197---------string:Waiting for the move_base action server to come up
|
||||
time:1714122299.161746778---------string:Waiting for the move_base action server to come up
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
time:1714122344.163452539---------string:Waiting for the move_base action server to come up
|
|
@ -0,0 +1,432 @@
|
|||
time:1714122438.113770662---------string:0
|
||||
time:1714122438.560414110---------string:Sending goal with eps
|
||||
time:1714122438.560470986---------string:0.000000
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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||||
time:1714122464.377434117---------string:transform1178行
|
||||
time:1714122464.527760877---------string:transform1178行
|
||||
time:1714122464.678113011---------string:transform1178行
|
||||
time:1714122464.829610238---------string:transform1178行
|
||||
time:1714122464.980006415---------string:transform1178行
|
||||
time:1714122465.130356217---------string:transform1178行
|
||||
time:1714122465.130574093---------string:current goal could be reached.
|
||||
time:1714122465.165000071---------string:0.000000
|
||||
time:1714122465.165116155---------string:1
|
||||
time:1714122465.165201323---------string:stop!!
|
||||
time:1714122465.165279198---------string:turn right
|
||||
time:1714122467.112601104---------string:ultrasonic检测到物体
|
||||
time:1714122467.145845239---------string:ultrasonic检测到物体
|
||||
time:1714122467.165342433---------string:stop!!
|
||||
time:1714122467.179603295---------string:ultrasonic检测到物体
|
||||
time:1714122467.213621811---------string:ultrasonic检测到物体
|
||||
time:1714122467.247595410---------string:ultrasonic检测到物体
|
||||
time:1714122467.281629968---------string:ultrasonic检测到物体
|
||||
time:1714122467.315664818---------string:ultrasonic检测到物体
|
||||
time:1714122467.381619626---------string:ultrasonic检测到物体
|
||||
time:1714122467.414687593---------string:ultrasonic检测到物体
|
||||
time:1714122467.448623858---------string:ultrasonic检测到物体
|
||||
time:1714122467.482615833---------string:ultrasonic检测到物体
|
||||
time:1714122467.516565223---------string:ultrasonic检测到物体
|
||||
time:1714122467.550615531---------string:ultrasonic检测到物体
|
||||
time:1714122467.587191109---------string:ultrasonic检测到物体
|
||||
time:1714122467.650684523---------string:ultrasonic检测到物体
|
||||
time:1714122467.683590905---------string:ultrasonic检测到物体
|
||||
time:1714122467.717685256---------string:ultrasonic检测到物体
|
||||
time:1714122467.751570479---------string:ultrasonic检测到物体
|
||||
time:1714122467.785571787---------string:ultrasonic检测到物体
|
||||
time:1714122467.820640311---------string:ultrasonic检测到物体
|
||||
time:1714122467.855028955---------string:ultrasonic检测到物体
|
||||
time:1714122467.920565510---------string:ultrasonic检测到物体
|
||||
time:1714122467.953702894---------string:ultrasonic检测到物体
|
||||
time:1714122467.987904287---------string:ultrasonic检测到物体
|
||||
time:1714122468.021578634---------string:ultrasonic检测到物体
|
||||
time:1714122468.055580817---------string:ultrasonic检测到物体
|
||||
time:1714122468.089602833---------string:ultrasonic检测到物体
|
||||
time:1714122468.123750850---------string:ultrasonic检测到物体
|
||||
time:1714122468.189658991---------string:ultrasonic检测到物体
|
||||
time:1714122468.222619916---------string:ultrasonic检测到物体
|
||||
time:1714122468.256891600---------string:ultrasonic检测到物体
|
||||
time:1714122468.290685532---------string:ultrasonic检测到物体
|
||||
time:1714122468.325726931---------string:ultrasonic检测到物体
|
||||
time:1714122468.359657363---------string:ultrasonic检测到物体
|
||||
time:1714122468.393804797---------string:ultrasonic检测到物体
|
||||
time:1714122468.459721688---------string:ultrasonic检测到物体
|
||||
time:1714122468.492873656---------string:ultrasonic检测到物体
|
||||
time:1714122468.526814296---------string:ultrasonic检测到物体
|
||||
time:1714122468.560664228---------string:ultrasonic检测到物体
|
||||
time:1714122468.594974413---------string:ultrasonic检测到物体
|
||||
time:1714122468.628791094---------string:ultrasonic检测到物体
|
||||
time:1714122468.662610109---------string:ultrasonic检测到物体
|
||||
time:1714122468.728643084---------string:ultrasonic检测到物体
|
||||
time:1714122468.761588259---------string:ultrasonic检测到物体
|
||||
time:1714122468.795589275---------string:ultrasonic检测到物体
|
||||
time:1714122468.829569874---------string:ultrasonic检测到物体
|
||||
time:1714122468.863617849---------string:ultrasonic检测到物体
|
||||
time:1714122468.897681865---------string:ultrasonic检测到物体
|
||||
time:1714122468.931703590---------string:ultrasonic检测到物体
|
||||
time:1714122468.997579356---------string:ultrasonic检测到物体
|
||||
time:1714122469.030765740---------string:ultrasonic检测到物体
|
||||
time:1714122469.064646589---------string:ultrasonic检测到物体
|
||||
time:1714122469.098623688---------string:ultrasonic检测到物体
|
||||
time:1714122469.132739330---------string:ultrasonic检测到物体
|
||||
time:1714122469.167182516---------string:ultrasonic检测到物体
|
||||
time:1714122469.200654445---------string:ultrasonic检测到物体
|
||||
time:1714122469.266542169---------string:ultrasonic检测到物体
|
||||
time:1714122469.303086538---------string:ultrasonic检测到物体
|
||||
time:1714122469.333641194---------string:ultrasonic检测到物体
|
||||
time:1714122469.367569585---------string:ultrasonic检测到物体
|
||||
time:1714122469.401577309---------string:ultrasonic检测到物体
|
||||
time:1714122469.436286497---------string:ultrasonic检测到物体
|
||||
time:1714122469.469653717---------string:ultrasonic检测到物体
|
||||
time:1714122469.535711776---------string:ultrasonic检测到物体
|
||||
time:1714122469.569638416---------string:ultrasonic检测到物体
|
||||
time:1714122469.602682466---------string:ultrasonic检测到物体
|
||||
time:1714122469.636719358---------string:ultrasonic检测到物体
|
||||
time:1714122469.670670790---------string:ultrasonic检测到物体
|
||||
time:1714122469.704752599---------string:ultrasonic检测到物体
|
||||
time:1714122469.738864449---------string:ultrasonic检测到物体
|
||||
time:1714122469.804693256---------string:ultrasonic检测到物体
|
||||
time:1714122469.837766181---------string:ultrasonic检测到物体
|
||||
time:1714122469.871692822---------string:ultrasonic检测到物体
|
||||
time:1714122469.905703171---------string:ultrasonic检测到物体
|
||||
time:1714122469.939757563---------string:ultrasonic检测到物体
|
||||
time:1714122469.973702579---------string:ultrasonic检测到物体
|
||||
time:1714122470.007668594---------string:ultrasonic检测到物体
|
||||
time:1714122470.073695736---------string:ultrasonic检测到物体
|
||||
time:1714122470.106852662---------string:ultrasonic检测到物体
|
||||
time:1714122470.140665552---------string:ultrasonic检测到物体
|
||||
time:1714122470.174595109---------string:ultrasonic检测到物体
|
||||
time:1714122470.208902961---------string:ultrasonic检测到物体
|
||||
time:1714122470.242665392---------string:ultrasonic检测到物体
|
||||
time:1714122470.276760909---------string:ultrasonic检测到物体
|
||||
time:1714122470.342668758---------string:ultrasonic检测到物体
|
||||
time:1714122470.375648933---------string:ultrasonic检测到物体
|
||||
time:1714122470.409682908---------string:ultrasonic检测到物体
|
||||
time:1714122470.443715424---------string:ultrasonic检测到物体
|
||||
time:1714122470.477713232---------string:ultrasonic检测到物体
|
||||
time:1714122470.511633164---------string:ultrasonic检测到物体
|
||||
time:1714122470.545663347---------string:ultrasonic检测到物体
|
||||
time:1714122471.165487865---------string:stop!!
|
||||
time:1714122471.165571574---------string:turn left
|
||||
time:1714122472.494641061---------string:ultrasonic检测到物体
|
||||
time:1714122472.531300639---------string:ultrasonic检测到物体
|
||||
time:1714122472.561891754---------string:ultrasonic检测到物体
|
||||
time:1714122472.595626476---------string:ultrasonic检测到物体
|
||||
time:1714122472.629605909---------string:ultrasonic检测到物体
|
||||
time:1714122472.663702301---------string:ultrasonic检测到物体
|
||||
time:1714122472.697670650---------string:ultrasonic检测到物体
|
||||
time:1714122473.165647355---------string:stop!!
|
||||
time:1714122473.570686276---------string:ultrasonic检测到物体
|
||||
time:1714122473.603646034---------string:ultrasonic检测到物体
|
||||
time:1714122473.637714717---------string:ultrasonic检测到物体
|
||||
time:1714122473.671706400---------string:ultrasonic检测到物体
|
||||
time:1714122473.707357679---------string:ultrasonic检测到物体
|
||||
time:1714122473.739722724---------string:ultrasonic检测到物体
|
||||
time:1714122473.774939708---------string:ultrasonic检测到物体
|
||||
time:1714122473.839730465---------string:ultrasonic检测到物体
|
||||
time:1714122473.872766057---------string:ultrasonic检测到物体
|
||||
time:1714122473.917421157---------string:ultrasonic检测到物体
|
||||
time:1714122473.949742160---------string:ultrasonic检测到物体
|
||||
time:1714122473.991667821---------string:ultrasonic检测到物体
|
||||
time:1714122474.025726880---------string:ultrasonic检测到物体
|
||||
time:1714122474.059843688---------string:ultrasonic检测到物体
|
||||
time:1714122474.108812863---------string:ultrasonic检测到物体
|
||||
time:1714122474.141673162---------string:ultrasonic检测到物体
|
||||
time:1714122474.181243305---------string:ultrasonic检测到物体
|
||||
time:1714122474.209625028---------string:ultrasonic检测到物体
|
||||
time:1714122474.243623710---------string:ultrasonic检测到物体
|
||||
time:1714122474.277671102---------string:ultrasonic检测到物体
|
||||
time:1714122474.312349665---------string:ultrasonic检测到物体
|
||||
time:1714122474.377757010---------string:ultrasonic检测到物体
|
||||
time:1714122474.410653768---------string:ultrasonic检测到物体
|
||||
time:1714122474.445077121---------string:ultrasonic检测到物体
|
||||
time:1714122474.478761676---------string:ultrasonic检测到物体
|
||||
time:1714122474.512803234---------string:ultrasonic检测到物体
|
||||
time:1714122474.546761375---------string:ultrasonic检测到物体
|
||||
time:1714122474.580785142---------string:ultrasonic检测到物体
|
||||
time:1714122474.646783408---------string:ultrasonic检测到物体
|
||||
time:1714122474.679660332---------string:ultrasonic检测到物体
|
||||
time:1714122474.713712390---------string:ultrasonic检测到物体
|
||||
time:1714122474.747869450---------string:ultrasonic检测到物体
|
||||
time:1714122474.781755840---------string:ultrasonic检测到物体
|
||||
time:1714122474.815674022---------string:ultrasonic检测到物体
|
||||
time:1714122474.849922082---------string:ultrasonic检测到物体
|
||||
time:1714122474.915875431---------string:ultrasonic检测到物体
|
||||
time:1714122474.948832273---------string:ultrasonic检测到物体
|
||||
time:1714122474.982754538---------string:ultrasonic检测到物体
|
||||
time:1714122475.016811847---------string:ultrasonic检测到物体
|
||||
time:1714122475.050749571---------string:ultrasonic检测到物体
|
||||
time:1714122475.084727253---------string:ultrasonic检测到物体
|
||||
time:1714122475.118716894---------string:ultrasonic检测到物体
|
||||
time:1714122475.165895514---------string:turn right
|
||||
time:1714122475.184783703---------string:ultrasonic检测到物体
|
||||
time:1714122475.217733836---------string:ultrasonic检测到物体
|
||||
time:1714122475.251758478---------string:ultrasonic检测到物体
|
||||
time:1714122475.285667910---------string:ultrasonic检测到物体
|
||||
time:1714122475.319825844---------string:ultrasonic检测到物体
|
||||
time:1714122475.353709026---------string:ultrasonic检测到物体
|
||||
time:1714122475.387739209---------string:ultrasonic检测到物体
|
||||
time:1714122475.453789976---------string:ultrasonic检测到物体
|
||||
time:1714122475.486758484---------string:ultrasonic检测到物体
|
||||
time:1714122475.520759792---------string:ultrasonic检测到物体
|
||||
time:1714122475.555978234---------string:ultrasonic检测到物体
|
||||
time:1714122475.588724199---------string:ultrasonic检测到物体
|
||||
time:1714122475.622722590---------string:ultrasonic检测到物体
|
||||
time:1714122475.656640481---------string:ultrasonic检测到物体
|
||||
time:1714122475.722666456---------string:ultrasonic检测到物体
|
||||
time:1714122475.755746673---------string:ultrasonic检测到物体
|
||||
time:1714122475.790718947---------string:ultrasonic检测到物体
|
||||
time:1714122475.824880090---------string:ultrasonic检测到物体
|
||||
time:1714122475.859800446---------string:ultrasonic检测到物体
|
||||
time:1714122475.895803770---------string:ultrasonic检测到物体
|
||||
time:1714122475.930778669---------string:ultrasonic检测到物体
|
||||
time:1714122477.073760159---------string:ultrasonic检测到物体
|
||||
time:1714122477.106682875---------string:ultrasonic检测到物体
|
||||
time:1714122477.141194020---------string:ultrasonic检测到物体
|
||||
time:1714122477.165955548---------string:stop!!
|
||||
time:1714122477.174740908---------string:ultrasonic检测到物体
|
||||
time:1714122477.208828842---------string:ultrasonic检测到物体
|
||||
time:1714122477.242769482---------string:ultrasonic检测到物体
|
||||
time:1714122477.276844291---------string:ultrasonic检测到物体
|
||||
time:1714122481.166120536---------string:stop!!
|
||||
time:1714122481.166306621---------string:turn left
|
||||
time:1714122482.924891602---------string:ultrasonic检测到物体
|
||||
time:1714122482.957809943---------string:ultrasonic检测到物体
|
||||
time:1714122482.991714417---------string:ultrasonic检测到物体
|
||||
time:1714122483.025752767---------string:ultrasonic检测到物体
|
||||
time:1714122483.059696324---------string:ultrasonic检测到物体
|
||||
time:1714122483.093702882---------string:ultrasonic检测到物体
|
||||
time:1714122483.130494295---------string:ultrasonic检测到物体
|
||||
time:1714122483.166381826---------string:stop!!
|
||||
time:1714122483.194800882---------string:ultrasonic检测到物体
|
||||
time:1714122483.227844933---------string:ultrasonic检测到物体
|
||||
time:1714122483.265174767---------string:ultrasonic检测到物体
|
||||
time:1714122483.296699514---------string:ultrasonic检测到物体
|
||||
time:1714122483.331710871---------string:ultrasonic检测到物体
|
||||
time:1714122483.365757096---------string:ultrasonic检测到物体
|
||||
time:1714122483.399716987---------string:ultrasonic检测到物体
|
||||
time:1714122485.166638451---------string:turn right
|
||||
time:1714122487.166704325---------string:stop!!
|
||||
time:1714122491.166905204---------string:stop!!
|
||||
time:1714122491.166990080---------string:turn left
|
||||
time:1714122493.167052167---------string:stop!!
|
||||
time:1714122499.167272854---------string:stop!!
|
||||
time:1714122504.184398847---------string:Waiting for the move_base action server to come up
|
||||
time:1714122509.184470382---------string:Waiting for the move_base action server to come up
|
||||
time:1714122514.184613384---------string:Waiting for the move_base action server to come up
|
|
@ -0,0 +1,941 @@
|
|||
time:1714122625.576725209---------string:0
|
||||
time:1714122625.888540331---------string:Sending goal with eps
|
||||
time:1714122625.888592540---------string:0.000000
|
||||
time:1714122626.351948357---------string:transform1178行
|
||||
time:1714122626.502215624---------string:transform1178行
|
||||
time:1714122626.652398599---------string:transform1178行
|
||||
time:1714122626.802568448---------string:transform1178行
|
||||
time:1714122626.952739465---------string:transform1178行
|
||||
time:1714122627.102919231---------string:transform1178行
|
||||
time:1714122627.253093456---------string:transform1178行
|
||||
time:1714122627.403265639---------string:transform1178行
|
||||
time:1714122627.553462030---------string:transform1178行
|
||||
time:1714122627.703649964---------string:transform1178行
|
||||
time:1714122627.853823605---------string:transform1178行
|
||||
time:1714122628.004003371---------string:transform1178行
|
||||
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|
||||
time:1714122628.304346863---------string:transform1178行
|
||||
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|
||||
time:1714122628.604713979---------string:transform1178行
|
||||
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|
||||
time:1714122628.905067095---------string:transform1178行
|
||||
time:1714122629.055246278---------string:transform1178行
|
||||
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|
||||
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|
||||
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|
||||
time:1714122629.656120221---------string:transform1178行
|
||||
time:1714122629.806451947---------string:transform1178行
|
||||
time:1714122629.956791256---------string:transform1178行
|
||||
time:1714122630.107486110---------string:transform1178行
|
||||
time:1714122630.257854295---------string:transform1178行
|
||||
time:1714122630.408205563---------string:transform1178行
|
||||
time:1714122630.558504913---------string:transform1178行
|
||||
time:1714122630.708858223---------string:transform1178行
|
||||
time:1714122630.859186449---------string:transform1178行
|
||||
time:1714122631.009541509---------string:transform1178行
|
||||
time:1714122631.159820443---------string:transform1178行
|
||||
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|
||||
time:1714122674.427766803---------string:transform1178行
|
||||
time:1714122674.578140240---------string:transform1178行
|
||||
time:1714122674.728529426---------string:transform1178行
|
||||
time:1714122674.878761987---------string:transform1178行
|
||||
time:1714122674.878847154---------string:current goal could be reached.
|
||||
time:1714122674.909552896---------string:0.343084
|
||||
time:1714122674.909747731---------string:16
|
||||
time:1714122675.258394232---------string:Sending goal with eps
|
||||
time:1714122675.258526066---------string:-0.200000
|
||||
time:1714122675.729702701---------string:transform1178行
|
||||
time:1714122675.879961803---------string:transform1178行
|
||||
time:1714122676.030176864---------string:transform1178行
|
||||
time:1714122676.180399799---------string:transform1178行
|
||||
time:1714122676.330579859---------string:transform1178行
|
||||
time:1714122676.480761669---------string:transform1178行
|
||||
time:1714122676.630936479---------string:transform1178行
|
||||
time:1714122676.781113622---------string:transform1178行
|
||||
time:1714122676.931279391---------string:transform1178行
|
||||
time:1714122677.081455367---------string:transform1178行
|
||||
time:1714122677.231621427---------string:transform1178行
|
||||
time:1714122677.381801487---------string:transform1178行
|
||||
time:1714122677.531987381---------string:transform1178行
|
||||
time:1714122677.682176774---------string:transform1178行
|
||||
time:1714122677.832531252---------string:transform1178行
|
||||
time:1714122677.982886022---------string:transform1178行
|
||||
time:1714122678.133213375---------string:transform1178行
|
||||
time:1714122678.283579520---------string:transform1178行
|
||||
time:1714122678.433815872---------string:transform1178行
|
||||
time:1714122678.584001766---------string:transform1178行
|
||||
time:1714122678.734194659---------string:transform1178行
|
||||
time:1714122678.884377636---------string:transform1178行
|
||||
time:1714122679.034807365---------string:transform1178行
|
||||
time:1714122679.184994717---------string:transform1178行
|
||||
time:1714122679.335169818---------string:transform1178行
|
||||
time:1714122679.485360670---------string:transform1178行
|
||||
time:1714122679.635548314---------string:transform1178行
|
||||
time:1714122679.785732749---------string:transform1178行
|
||||
time:1714122679.785824625---------string:current goal could be reached.
|
||||
time:1714122679.809813814---------string:-0.200000
|
||||
time:1714122679.809929023---------string:17
|
||||
time:1714122680.104346972---------string:Sending goal with eps
|
||||
time:1714122680.104405306---------string:0.937500
|
||||
time:1714122680.564174184---------string:transform1178行
|
||||
time:1714122680.564352102---------string:current goal could be reached.
|
||||
time:1714122680.608871870---------string:0.937500
|
||||
time:1714122680.608999621---------string:18
|
||||
time:1714122680.907893230---------string:Sending goal with eps
|
||||
time:1714122680.908164482---------string:1.000000
|
||||
time:1714122681.311457790---------string:transform1178行
|
||||
time:1714122681.311549957---------string:current goal could be reached.
|
||||
time:1714122681.414114767---------string:1.000000
|
||||
time:1714122681.414168434---------string:19
|
||||
time:1714122681.717333826---------string:Sending goal with eps
|
||||
time:1714122681.717389535---------string:1.000000
|
||||
time:1714122682.170241776---------string:transform1178行
|
||||
time:1714122682.170321401---------string:current goal could be reached.
|
||||
time:1714122682.212228982---------string:1.000000
|
||||
time:1714122682.212284691---------string:20
|
||||
time:1714122682.507902274---------string:Sending goal with eps
|
||||
time:1714122682.507958566---------string:1.000000
|
||||
time:1714122682.932479833---------string:transform1178行
|
||||
time:1714122683.082673310---------string:transform1178行
|
||||
time:1714122683.232849287---------string:transform1178行
|
||||
time:1714122683.383052098---------string:transform1178行
|
||||
time:1714122683.533220491---------string:transform1178行
|
||||
time:1714122683.683470552---------string:transform1178行
|
||||
time:1714122683.833677446---------string:transform1178行
|
||||
time:1714122683.983877923---------string:transform1178行
|
||||
time:1714122684.134075192---------string:transform1178行
|
||||
time:1714122684.284310378---------string:transform1178行
|
||||
time:1714122684.434712981---------string:transform1178行
|
||||
time:1714122684.585078835---------string:transform1178行
|
||||
time:1714122684.585280086---------string:current goal could be reached.
|
||||
time:1714122684.610172575---------string:1.000000
|
||||
time:1714122684.610288950---------string:21
|
||||
time:1714122684.958852327---------string:Sending goal with eps
|
||||
time:1714122684.958908327---------string:1.000000
|
||||
time:1714122685.411619109---------string:transform1178行
|
||||
time:1714122685.561949670---------string:transform1178行
|
||||
time:1714122685.712307357---------string:transform1178行
|
||||
time:1714122685.862740294---------string:transform1178行
|
||||
time:1714122686.013306524---------string:transform1178行
|
||||
time:1714122686.163654294---------string:transform1178行
|
||||
time:1714122686.163847379---------string:current goal could be reached.
|
||||
time:1714122686.207616100---------string:1.000000
|
||||
time:1714122686.207664225---------string:22
|
||||
time:1714122686.504633694---------string:Sending goal with eps
|
||||
time:1714122686.504698736---------string:1.000000
|
||||
time:1714122686.955412461---------string:transform1178行
|
||||
time:1714122687.105756439---------string:transform1178行
|
||||
time:1714122687.256073876---------string:transform1178行
|
||||
time:1714122687.407797448---------string:transform1178行
|
||||
time:1714122687.558168844---------string:transform1178行
|
||||
time:1714122687.708506989---------string:transform1178行
|
||||
time:1714122687.708705032---------string:current goal could be reached.
|
||||
time:1714122687.809907456---------string:1.000000
|
||||
time:1714122687.809961414---------string:23
|
||||
time:1714122688.106883633---------string:Sending goal with eps
|
||||
time:1714122688.107014884---------string:1.000000
|
||||
time:1714122688.572083097---------string:transform1178行
|
||||
time:1714122688.722416575---------string:transform1178行
|
||||
time:1714122688.872750345---------string:transform1178行
|
||||
time:1714122689.023158783---------string:transform1178行
|
||||
time:1714122689.173685346---------string:transform1178行
|
||||
time:1714122689.324037200---------string:transform1178行
|
||||
time:1714122689.474374178---------string:transform1178行
|
||||
time:1714122689.474561721---------string:current goal could be reached.
|
||||
time:1714122689.511046301---------string:1.000000
|
||||
time:1714122689.511155677---------string:24
|
||||
time:1714122689.863631792---------string:Sending goal with eps
|
||||
time:1714122689.863757210---------string:1.000000
|
||||
time:1714122690.302343339---------string:transform1178行
|
||||
time:1714122690.452757026---------string:transform1178行
|
||||
time:1714122690.603117922---------string:transform1178行
|
||||
time:1714122690.753523734---------string:transform1178行
|
||||
time:1714122690.903864504---------string:transform1178行
|
||||
time:1714122690.904067214---------string:current goal could be reached.
|
||||
time:1714122691.012099942---------string:1.000000
|
||||
time:1714122691.012220110---------string:25
|
||||
time:1714122691.106663397---------string:ultrasonic检测到物体
|
||||
time:1714122691.138458231---------string:ultrasonic检测到物体
|
||||
time:1714122691.172504167---------string:ultrasonic检测到物体
|
||||
time:1714122691.206431101---------string:ultrasonic检测到物体
|
||||
time:1714122691.240616163---------string:ultrasonic检测到物体
|
||||
time:1714122691.274486222---------string:ultrasonic检测到物体
|
||||
time:1714122691.313230069---------string:ultrasonic检测到物体
|
||||
time:1714122691.313598739---------string:Sending goal with eps
|
||||
time:1714122691.313657364---------string:1.000000
|
||||
time:1714122691.379252841---------string:ultrasonic检测到物体
|
||||
time:1714122691.411543512---------string:ultrasonic检测到物体
|
||||
time:1714122691.458590592---------string:ultrasonic检测到物体
|
||||
time:1714122691.492600944---------string:ultrasonic检测到物体
|
||||
time:1714122691.526612171---------string:ultrasonic检测到物体
|
||||
time:1714122691.569667177---------string:ultrasonic检测到物体
|
||||
time:1714122691.595455381---------string:ultrasonic检测到物体
|
||||
time:1714122691.643529135---------string:ultrasonic检测到物体
|
||||
time:1714122691.678403410---------string:ultrasonic检测到物体
|
||||
time:1714122691.710448497---------string:ultrasonic检测到物体
|
||||
time:1714122691.744467599---------string:ultrasonic检测到物体
|
||||
time:1714122691.778493992---------string:ultrasonic检测到物体
|
||||
time:1714122691.804430072---------string:transform1178行
|
||||
time:1714122691.819004479---------string:ultrasonic检测到物体
|
||||
time:1714122691.846538613---------string:ultrasonic检测到物体
|
||||
time:1714122691.912638968---------string:ultrasonic检测到物体
|
||||
time:1714122691.953008870---------string:ultrasonic检测到物体
|
||||
time:1714122691.957199278---------string:transform1178行
|
||||
time:1714122691.980458420---------string:ultrasonic检测到物体
|
||||
time:1714122692.013426055---------string:ultrasonic检测到物体
|
||||
time:1714122692.047611117---------string:ultrasonic检测到物体
|
||||
time:1714122692.094196485---------string:ultrasonic检测到物体
|
||||
time:1714122692.107583799---------string:transform1178行
|
||||
time:1714122692.115584279---------string:ultrasonic检测到物体
|
||||
time:1714122692.181416590---------string:ultrasonic检测到物体
|
||||
time:1714122692.214521601---------string:ultrasonic检测到物体
|
||||
time:1714122692.248467494---------string:ultrasonic检测到物体
|
||||
time:1714122692.257933611---------string:transform1178行
|
||||
time:1714122692.282441971---------string:ultrasonic检测到物体
|
||||
time:1714122692.316548865---------string:ultrasonic检测到物体
|
||||
time:1714122692.352866027---------string:ultrasonic检测到物体
|
||||
time:1714122692.384463401---------string:ultrasonic检测到物体
|
||||
time:1714122692.408425757---------string:transform1178行
|
||||
time:1714122692.450453506---------string:ultrasonic检测到物体
|
||||
time:1714122692.483462266---------string:ultrasonic检测到物体
|
||||
time:1714122692.517434993---------string:ultrasonic检测到物体
|
||||
time:1714122692.551396052---------string:ultrasonic检测到物体
|
||||
time:1714122692.558748444---------string:transform1178行
|
||||
time:1714122692.558935404---------string:current goal could be reached.
|
||||
time:1714122692.585475530---------string:ultrasonic检测到物体
|
||||
time:1714122692.617951703---------string:1.000000
|
||||
time:1714122692.618083829---------string:26
|
||||
time:1714122692.618190288---------string:stop!!
|
||||
time:1714122692.618276039---------string:turn right
|
||||
time:1714122692.619428131---------string:ultrasonic检测到物体
|
||||
time:1714122692.653438775---------string:ultrasonic检测到物体
|
||||
time:1714122692.989332927---------string:ultrasonic检测到物体
|
||||
time:1714122693.022442021---------string:ultrasonic检测到物体
|
||||
time:1714122693.056384414---------string:ultrasonic检测到物体
|
||||
time:1714122693.090432975---------string:ultrasonic检测到物体
|
||||
time:1714122693.125947755---------string:ultrasonic检测到物体
|
||||
time:1714122693.158408761---------string:ultrasonic检测到物体
|
||||
time:1714122693.192383821---------string:ultrasonic检测到物体
|
||||
time:1714122694.618312871---------string:stop!!
|
||||
time:1714122698.618469080---------string:stop!!
|
||||
time:1714122698.618664498---------string:turn left
|
||||
time:1714122700.618736917---------string:stop!!
|
||||
time:1714122706.619065012---------string:stop!!
|
||||
time:1714122707.005274104---------string:Sending goal with eps
|
||||
time:1714122707.005328646---------string:1.000000
|
||||
time:1714122707.454495944---------string:transform1178行
|
||||
time:1714122707.454692237---------string:current goal could be reached.
|
||||
time:1714122707.484710516---------string:ultrasonic检测到物体
|
||||
time:1714122707.514141082---------string:1.000000
|
||||
time:1714122707.514259208---------string:28
|
||||
time:1714122707.514338541---------string:stop!!
|
||||
time:1714122707.514399500---------string:turn right
|
||||
time:1714122707.516504475---------string:ultrasonic检测到物体
|
||||
time:1714122707.550454743---------string:ultrasonic检测到物体
|
||||
time:1714122707.584530429---------string:ultrasonic检测到物体
|
||||
time:1714122707.622000850---------string:ultrasonic检测到物体
|
||||
time:1714122707.653497891---------string:ultrasonic检测到物体
|
||||
time:1714122707.687472076---------string:ultrasonic检测到物体
|
||||
time:1714122707.753533931---------string:ultrasonic检测到物体
|
||||
time:1714122707.786548233---------string:ultrasonic检测到物体
|
||||
time:1714122707.820475168---------string:ultrasonic检测到物体
|
||||
time:1714122707.854734022---------string:ultrasonic检测到物体
|
||||
time:1714122707.888541955---------string:ultrasonic检测到物体
|
||||
time:1714122707.922588183---------string:ultrasonic检测到物体
|
||||
time:1714122707.956569368---------string:ultrasonic检测到物体
|
||||
time:1714122708.302660560---------string:ultrasonic检测到物体
|
||||
time:1714122708.335498402---------string:ultrasonic检测到物体
|
||||
time:1714122708.369500879---------string:ultrasonic检测到物体
|
||||
time:1714122708.403547982---------string:ultrasonic检测到物体
|
||||
time:1714122708.438543591---------string:ultrasonic检测到物体
|
||||
time:1714122708.472522443---------string:ultrasonic检测到物体
|
||||
time:1714122708.507519803---------string:ultrasonic检测到物体
|
||||
time:1714122708.574586749---------string:ultrasonic检测到物体
|
||||
time:1714122708.607657927---------string:ultrasonic检测到物体
|
||||
time:1714122708.641601487---------string:ultrasonic检测到物体
|
||||
time:1714122708.677886565---------string:ultrasonic检测到物体
|
||||
time:1714122708.710726158---------string:ultrasonic检测到物体
|
||||
time:1714122708.743549417---------string:ultrasonic检测到物体
|
||||
time:1714122708.777555686---------string:ultrasonic检测到物体
|
||||
time:1714122709.514469006---------string:stop!!
|
||||
time:1714122713.514711564---------string:stop!!
|
||||
time:1714122713.514796439---------string:turn left
|
||||
time:1714122715.514874407---------string:stop!!
|
||||
time:1714122718.038609304---------string:ultrasonic检测到物体
|
||||
time:1714122718.071570231---------string:ultrasonic检测到物体
|
||||
time:1714122718.105610333---------string:ultrasonic检测到物体
|
||||
time:1714122718.139675227---------string:ultrasonic检测到物体
|
||||
time:1714122718.173607704---------string:ultrasonic检测到物体
|
||||
time:1714122718.207605806---------string:ultrasonic检测到物体
|
||||
time:1714122718.241585532---------string:ultrasonic检测到物体
|
||||
time:1714122718.307575345---------string:ultrasonic检测到物体
|
||||
time:1714122718.340617648---------string:ultrasonic检测到物体
|
||||
time:1714122718.374619250---------string:ultrasonic检测到物体
|
||||
time:1714122718.408705144---------string:ultrasonic检测到物体
|
||||
time:1714122718.443748296---------string:ultrasonic检测到物体
|
||||
time:1714122718.477660064---------string:ultrasonic检测到物体
|
||||
time:1714122718.511675375---------string:ultrasonic检测到物体
|
||||
time:1714122718.577699021---------string:ultrasonic检测到物体
|
||||
time:1714122718.611043785---------string:ultrasonic检测到物体
|
||||
time:1714122718.644592717---------string:ultrasonic检测到物体
|
||||
time:1714122718.678669861---------string:ultrasonic检测到物体
|
||||
time:1714122718.712751672---------string:ultrasonic检测到物体
|
||||
time:1714122718.750175134---------string:ultrasonic检测到物体
|
||||
time:1714122718.782944435---------string:ultrasonic检测到物体
|
||||
time:1714122718.846736230---------string:ultrasonic检测到物体
|
||||
time:1714122718.885022158---------string:ultrasonic检测到物体
|
||||
time:1714122718.913573633---------string:ultrasonic检测到物体
|
||||
time:1714122718.947617527---------string:ultrasonic检测到物体
|
||||
time:1714122718.982701805---------string:ultrasonic检测到物体
|
||||
time:1714122719.016863533---------string:ultrasonic检测到物体
|
||||
time:1714122719.050623341---------string:ultrasonic检测到物体
|
||||
time:1714122719.116544029---------string:ultrasonic检测到物体
|
||||
time:1714122719.149537039---------string:ultrasonic检测到物体
|
||||
time:1714122719.183627309---------string:ultrasonic检测到物体
|
||||
time:1714122719.217517785---------string:ultrasonic检测到物体
|
||||
time:1714122719.251757389---------string:ultrasonic检测到物体
|
||||
time:1714122719.285647573---------string:ultrasonic检测到物体
|
||||
time:1714122719.319565758---------string:ultrasonic检测到物体
|
||||
time:1714122719.385608655---------string:ultrasonic检测到物体
|
||||
time:1714122719.418546540---------string:ultrasonic检测到物体
|
||||
time:1714122719.452606184---------string:ultrasonic检测到物体
|
||||
time:1714122719.485658404---------string:ultrasonic检测到物体
|
||||
time:1714122719.520542012---------string:ultrasonic检测到物体
|
||||
time:1714122719.554556448---------string:ultrasonic检测到物体
|
||||
time:1714122719.588557758---------string:ultrasonic检测到物体
|
||||
time:1714122719.653596730---------string:ultrasonic检测到物体
|
||||
time:1714122719.686683659---------string:ultrasonic检测到物体
|
||||
time:1714122719.720545843---------string:ultrasonic检测到物体
|
||||
time:1714122719.754647779---------string:ultrasonic检测到物体
|
||||
time:1714122719.788559547---------string:ultrasonic检测到物体
|
||||
time:1714122719.822579232---------string:ultrasonic检测到物体
|
||||
time:1714122719.856565959---------string:ultrasonic检测到物体
|
||||
time:1714122719.922558981---------string:ultrasonic检测到物体
|
||||
time:1714122719.955611492---------string:ultrasonic检测到物体
|
||||
time:1714122719.989613969---------string:ultrasonic检测到物体
|
||||
time:1714122720.023608279---------string:ultrasonic检测到物体
|
||||
time:1714122720.057654215---------string:ultrasonic检测到物体
|
||||
time:1714122720.091697817---------string:ultrasonic检测到物体
|
||||
time:1714122720.125600543---------string:ultrasonic检测到物体
|
||||
time:1714122720.191613690---------string:ultrasonic检测到物体
|
||||
time:1714122720.224637034---------string:ultrasonic检测到物体
|
||||
time:1714122720.258590802---------string:ultrasonic检测到物体
|
||||
time:1714122720.292552154---------string:ultrasonic检测到物体
|
||||
time:1714122720.326624632---------string:ultrasonic检测到物体
|
||||
time:1714122720.360559150---------string:ultrasonic检测到物体
|
||||
time:1714122720.394614127---------string:ultrasonic检测到物体
|
||||
time:1714122720.463830674---------string:ultrasonic检测到物体
|
||||
time:1714122720.495724676---------string:ultrasonic检测到物体
|
||||
time:1714122720.527684012---------string:ultrasonic检测到物体
|
||||
time:1714122720.561588196---------string:ultrasonic检测到物体
|
||||
time:1714122720.595683132---------string:ultrasonic检测到物体
|
||||
time:1714122720.629577692---------string:ultrasonic检测到物体
|
||||
time:1714122720.663579877---------string:ultrasonic检测到物体
|
||||
time:1714122721.001638798---------string:ultrasonic检测到物体
|
||||
time:1714122721.034647268---------string:ultrasonic检测到物体
|
||||
time:1714122721.068705453---------string:ultrasonic检测到物体
|
||||
time:1714122721.103678313---------string:ultrasonic检测到物体
|
||||
time:1714122721.138647673---------string:ultrasonic检测到物体
|
||||
time:1714122721.172636733---------string:ultrasonic检测到物体
|
||||
time:1714122721.207671718---------string:ultrasonic检测到物体
|
||||
time:1714122721.515990321---------string:stop!!
|
||||
time:1714122721.816872240---------string:Sending goal with eps
|
||||
time:1714122721.817004658---------string:1.000000
|
||||
time:1714122722.282911423---------string:transform1178行
|
||||
time:1714122722.433093818---------string:transform1178行
|
||||
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|
||||
time:1714122722.733556608---------string:transform1178行
|
||||
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|
||||
time:1714122723.033933065---------string:transform1178行
|
||||
time:1714122723.184168836---------string:transform1178行
|
||||
time:1714122723.334351814---------string:transform1178行
|
||||
time:1714122723.484528959---------string:transform1178行
|
||||
time:1714122723.634696771---------string:transform1178行
|
||||
time:1714122723.784868374---------string:transform1178行
|
||||
time:1714122723.935038811---------string:transform1178行
|
||||
time:1714122724.085221206---------string:transform1178行
|
||||
time:1714122724.235390476---------string:transform1178行
|
||||
time:1714122724.385569371---------string:transform1178行
|
||||
time:1714122724.535744183---------string:transform1178行
|
||||
time:1714122724.685882536---------string:transform1178行
|
||||
time:1714122724.836384017---------string:transform1178行
|
||||
time:1714122724.986987582---------string:transform1178行
|
||||
time:1714122725.137379979---------string:transform1178行
|
||||
time:1714122725.287703833---------string:transform1178行
|
||||
time:1714122725.438142314---------string:transform1178行
|
||||
time:1714122725.588385376---------string:transform1178行
|
||||
time:1714122725.738561938---------string:transform1178行
|
||||
time:1714122725.888736166---------string:transform1178行
|
||||
time:1714122726.038903395---------string:transform1178行
|
||||
time:1714122726.038987396---------string:current goal could be reached.
|
||||
time:1714122726.112782270---------string:1.000000
|
||||
time:1714122726.112893396---------string:30
|
||||
time:1714122726.112970689---------string:stop!!
|
||||
time:1714122726.113030189---------string:turn right
|
||||
time:1714122728.113092995---------string:stop!!
|
||||
time:1714122732.113250111---------string:stop!!
|
||||
time:1714122732.113348987---------string:turn left
|
||||
time:1714122734.113412379---------string:stop!!
|
||||
time:1714122740.113622686---------string:stop!!
|
||||
time:1714122740.408600935---------string:Sending goal with eps
|
||||
time:1714122740.408736270---------string:0.250000
|
||||
time:1714122740.887042759---------string:transform1178行
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
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|
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|
|||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
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Reference in New Issue