348 changed files with 8298 additions and 169248 deletions
--- a/Code/MowingRobot/pibot_ros/pibot_init_env.sh
+++ b/Code/MowingRobot/pibot_ros/pibot_init_env.sh
--- a/Code/MowingRobot/pibot_ros/pypibot/pypibot/init.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/init.py
--- a/Code/MowingRobot/pibot_ros/pypibot/pypibot/assistant.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/assistant.py
--- a/Code/MowingRobot/pibot_ros/pypibot/pypibot/configer.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/configer.py
--- a/Code/MowingRobot/pibot_ros/pypibot/pypibot/daemon.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/daemon.py
--- a/Code/MowingRobot/pibot_ros/pypibot/pypibot/err.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/err.py
--- a/Code/MowingRobot/pibot_ros/pypibot/pypibot/log.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/log.py
--- a/Code/MowingRobot/pibot_ros/pypibot/pypibot/mapconvert.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/mapconvert.py
--- a/Code/MowingRobot/pibot_ros/pypibot/pypibot/proxy.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/proxy.py
--- a/Code/MowingRobot/pibot_ros/pypibot/transport/dataholder.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/transport/dataholder.py
--- a/Code/MowingRobot/pibot_ros/pypibot/transport/main.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/transport/main.py
--- a/Code/MowingRobot/pibot_ros/pypibot/transport/params.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/transport/params.py
--- a/Code/MowingRobot/pibot_ros/pypibot/transport/set_default_params.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/transport/set_default_params.py
--- a/Code/MowingRobot/pibot_ros/pypibot/transport/test_motors.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/transport/test_motors.py
--- a/Code/MowingRobot/pibot_ros/pypibot/transport/transport.py
+++ b/Code/MowingRobot/pibot_ros/pypibot/transport/transport.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/process_1.log
+++ b/Code/MowingRobot/pibot_ros/ros_ws/process_1.log
--- a/Code/MowingRobot/pibot_ros/ros_ws/process_2.log
+++ b/Code/MowingRobot/pibot_ros/ros_ws/process_2.log
--- a/Code/MowingRobot/pibot_ros/ros_ws/run.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/run.py
@ -1,49 +0,0 @@
 #!/usr/bin/env python
 import sys
 from pynput.keyboard import Key, Listener
 import subprocess
 running_process = None
 def execute_launch(key):
    global running_process
    launch_files = {
        'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []),  # stereo
        'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']),  # nav
        '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
        'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []),  # server
    }
    # 检查按键是否对应一个.launch文件
    if key in launch_files:
        # 获取对应的.launch文件和参数
        launch_file, launch_args = launch_files[key]
        # 构造启动命令
        launch_command = ["roslaunch", launch_file] + launch_args
        # 执行对应的.launch文件
        running_process = subprocess.Popen(launch_command)
 # 监听按键事件
 def on_press(key):
    global running_process
    if key.char == 'q':
        print("stop1")
        if running_process:
            running_process.terminate()
            running_process = None  # 清除已结束的进程
        print("stop2")
        return False  # 停止监听器
    try:
        if key.char == 's':
            print("按下 's' 键，程序停止")
            return False  # 停止监听器
        execute_launch(key.char)
    except AttributeError:
        # 按下的不是字符键，忽略
        pass
 with Listener(on_press=on_press) as listener:
    listener.join()
--- a/Code/MowingRobot/pibot_ros/ros_ws/run1.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/run1.py
@ -1,32 +0,0 @@
 #!/usr/bin/env python
 import subprocess
 import keyboard
 def execute_launch(launch_file, launch_args=[]):
    # 构造启动命令
    launch_command = ["roslaunch", launch_file] + launch_args
    # 启动一个新的终端并执行对应的.launch文件
    subprocess.Popen(['gnome-terminal', '--', 'bash',' '.join(launch_command)])
 # 监听按键事件
 def on_press(event):
    key = event.name
    # 检查按键是否对应一个.launch文件
    launch_files = {
        'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []),  # stereo
        'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']),  # nav
        '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
        'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []),  # server
    }
    if key in launch_files:
        # 获取对应的.launch文件和参数
        launch_file, launch_args = launch_files[key]
        # 执行对应的.launch文件
        execute_launch(launch_file, launch_args)
 keyboard.on_press(on_press)
 # 运行程序
 keyboard.wait('q')  # 等待按下 'q' 键
--- a/Code/MowingRobot/pibot_ros/ros_ws/service.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/service.py
@ -1,68 +0,0 @@
 import socket
 import threading
 import subprocess
 import netifaces
 def create_server_socket(host, port):
    socket_server = socket.socket()
    socket_server.bind((host, port))
    socket_server.listen(5)
    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...")
    # 开启多线程，收发来自多个客户端的数据
    num = 0  # 标记客户端的编号
    while True:
        num += 1
        conn, address = socket_server.accept()
        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()
 # 处理收发数据
 def handle_client(conn, address, num):
    while True:
        # 接收客户端发来的数据
        data_from_client: str = conn.recv(1024).decode("UTF-8")
        print(f"客户端 {num}号:{address}发来的消息是：{data_from_client}")
        # 发送消息到客户端
        msg = input(f"请输入你要回复客户端 {num}号:{address}的消息：")
        if msg == 'exit':
            break
        conn.send(msg.encode("UTF-8"))  # encode将字符串编码为字节数组对象
    conn.close()
 # def handle_client(conn, address, client_num):
 #     try:
 #         while True:
 #             data_from_client = conn.recv(1024).decode("UTF-8")
 #             if not data_from_client:
 #                 break
 #             print(f"客户端 {client_num} 号({address}) 发来的消息是：{data_from_client}")
 #             if data_from_client.strip() == '1':
 #                 print("执行 roscore 命令...")
 #                 subprocess.run(['roscore'])
 #             else:
 #                 msg = input(f"请输入你要回复客户端 {client_num} 号({address}) 的消息：")
 #                 if msg.lower() == 'exit':
 #                     break
 #                 conn.send(msg.encode("UTF-8"))
 #     except Exception as e:
 #         print(f"客户端 {client_num} 号({address}) 处理时发生错误：{e}")
 #     finally:
 #         conn.close()
 #         print(f"客户端 {client_num} 号({address}) 已断开连接。")
 if __name__ == '__main__':
    # 获取本机（计算机）名
    hostname = socket.gethostname()
    # 获取本机（计算机）ip
    ip = socket.gethostbyname(hostname)
    print(hostname, ip)
    server_host = ip
    server_port = int(input("请输入服务端port:"))
    create_server_socket(server_host, server_port)
--- a/Code/MowingRobot/pibot_ros/ros_ws/service2.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/service2.py
@ -1,110 +0,0 @@
 import socket
 import threading
 import subprocess
 import netifaces
 # LAUNCH_FILES = {
 #     '0x00': ['roslaunch', 'pibot_navigation', 'nav.launch'],
 #     '0x01': ['roslaunch', 'upbot_location', 'upbot_location.launch'],
 #     'launch_file_1': ['roslaunch', 'package_name', 'launch_file_1.launch'],
 #     'launch_file_2': ['roslaunch', 'package_name', 'launch_file_2.launch']
 # }
 client_processes = {}
 process_id_counter = 0
 def get_local_ip():
    interfaces = netifaces.interfaces()
    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.'):
                    return ip_address
 def create_server_socket(host, port):
    try:
        socket_server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        socket_server.bind((host, port))
        socket_server.listen(5)
        print(f"服务端已启动，地址{host}，端口{port}")
        print("正在等待客户端连接...")
        client_num = 0
        while True:
            client_num += 1
            conn, address = socket_server.accept()
            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}")
            client_handler = threading.Thread(target=handle_client, args=(conn, address, client_num))
            client_handler.start()
    except Exception as e:
        print(f"错误：{e}")
    finally:
        socket_server.close()
 def handle_client(conn, address, client_num):
    global process_id_counter
    try:
        while True:
            data_from_client = conn.recv(1024).decode("UTF-8")
            if not data_from_client:
                break
            print(f"客户端 {client_num} 号({address}) 发来的消息是：{data_from_client}")
            data = data_from_client.strip()
            if data == '1':
                process_id_counter += 1
                process_id = process_id_counter
                process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'])
                client_processes.setdefault(client_num, []).append((process_id, process))
                conn.send(f"定位导航已启动，进程标识符为 {process_id}".encode("UTF-8"))
            elif data == '2':
                process_id_counter += 1
                process_id = process_id_counter
                process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'])
                client_processes.setdefault(client_num, []).append((process_id, process))
                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 == '3':
                process_id_counter += 1
                process_id = process_id_counter
                process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'])
                client_processes.setdefault(client_num, []).append((process_id, process))
                conn.send(f"全覆盖服务端已启动，进程标识符为 {process_id}".encode("UTF-8"))
            elif data == '4':
                process_id_counter += 1
                process_id = process_id_counter
                process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'])
                client_processes.setdefault(client_num, []).append((process_id, process))
                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.startswith('stop'):
                stop_data = data.split()
                if len(stop_data) == 2:
                    process_id_to_stop = int(stop_data[1])
                    if client_num in client_processes:
                        for process_tuple in client_processes[client_num]:
                            if process_tuple[0] == process_id_to_stop:
                                process_tuple[1].terminate()
                                client_processes[client_num].remove(process_tuple)
                                conn.send(f"已停止客户端 {client_num} 号的进程 {process_id_to_stop}".encode("UTF-8"))
                                break
                        else:
                            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"))
                    else:
                        conn.send("没有启动的进程需要停止".encode("UTF-8"))
                else:
                    conn.send("无效的停止命令格式".encode("UTF-8"))
            else:
                response = f"已收到消息: {data}"
                conn.send(response.encode("UTF-8"))
    except Exception as e:
        print(f"客户端 {client_num} 号({address}) 处理时发生错误：{e}")
    finally:
        conn.close()
        print(f"客户端 {client_num} 号({address}) 已断开连接。")
 if __name__ == '__main__':
    local_ip = get_local_ip()
    print("本机在局域网内的IP地址:", local_ip)
    server_port = int(input("请输入服务端端口号: "))
    create_server_socket(local_ip, server_port)
--- a/Code/MowingRobot/pibot_ros/ros_ws/service612.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/service612.py
@ -1,102 +0,0 @@
 import socket
 import threading
 import time
 import subprocess
 import netifaces
 # 初始化全局变量
 client_processes = {}
 process_id_counter = 0
 lock = threading.Lock()
 def get_local_ip():
    interfaces = netifaces.interfaces()
    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.'):
                    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
                    log_file = open(f"process_{process_id}.log", "w")
                    if data == 0x0:
                        process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch'], stdout=log_file, stderr=log_file)
                        # process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'],stdout=log_file, stderr=log_file)
                        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'], stdout=log_file, stderr=log_file)
                        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'], stdout=log_file, stderr=log_file)
                        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_'], stdout=log_file, stderr=log_file)
                        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)
--- a/Code/MowingRobot/pibot_ros/ros_ws/service64.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/service64.py
@ -1,100 +0,0 @@
 import socket
 import threading
 import time
 import subprocess
 import netifaces
 # 初始化全局变量
 client_processes = {}
 process_id_counter = 0
 lock = threading.Lock()
 def get_local_ip():
    interfaces = netifaces.interfaces()
    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.'):
                    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)
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/CMakeLists.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/CMakeLists.txt
@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(upbot_following)
+project(FollowingCar)
 find_package(catkin REQUIRED COMPONENTS
  roscpp
@ -17,7 +17,7 @@ find_package(Boost REQUIRED)
 # catkin_package(
 # #  INCLUDE_DIRS include
-# #  LIBRARIES upbot_following
+# #  LIBRARIES FollowingCar
 # #  CATKIN_DEPENDS roscpp rospy std_msgs
 # #  DEPENDS system_lib
 # CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/Mat.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/Mat.h
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/align.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/align.h
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/lighthouse.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/lighthouse.h
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/mapping.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/mapping.h
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/senddata.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/senddata.h
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/type.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/type.h
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/uwb.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/uwb.h
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/package.xml
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/package.xml
@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>upbot_following</name>
+  <name>FollowingCar</name>
  <version>0.0.0</version>
  <description>The FollowingCar package</description>
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/Mat.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/Mat.cpp
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/align.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/align.cpp
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/lighthouse.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/lighthouse.cpp
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/main.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/main.cpp
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/mapping.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/mapping.cpp
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/senddata.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/senddata.cpp
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/uwb.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/uwb.cpp
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/setup.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/setup.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/init.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/init.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/init.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/init.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt
@ -36,7 +36,6 @@ add_message_files(
 		RoomSequence.msg
 		dis_info.msg
 		dis_info_array.msg
 		avoid.msg
 )
 ## Generate services in the 'srv' folder
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/avoid.msg
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/avoid.msg
@ -1,6 +0,0 @@
 Header header
 float32 ultrasonic_range
 bool l1
 bool l2
 bool r1
 bool r2
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-09_08-06-34.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-09_08-06-34.txt
@ -0,0 +1,226 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1712649995.270271216,-2.14681,-1.24004,-0.0680199,0.000126608,-0.118708,0.00108108,0,0.0666667,-0.2842111712649995.270350534,
 1712649995.420440111,-2.14681,-1.24004,-0.0680199,0.0001273,-0.119356,0.00107517,0,0.0666667,-0.2842111712649995.420477729,
 1712649995.570565265,-2.14681,-1.24004,-0.0680199,0.000128683,-0.120654,0.00116402,0,0.0666667,-0.2842111712649995.570598800,
 1712649995.720681087,-2.14681,-1.24004,-0.0680199,0.000129375,-0.121302,0.00119952,0,0.0666667,-0.2842111712649995.720718121,
 1712649995.870816156,-2.14681,-1.24004,-0.0680199,0.000130759,-0.122599,0.00120747,0,0.0666667,-0.2842111712649995.870869520,
 1712649996.020970483,-2.14681,-1.24004,-0.0680199,0.00013145,-0.123248,0.00114803,0,0.0666667,-0.2842111712649996.021015099,
 1712649996.171096324,-2.14681,-1.24004,-0.0680199,0.000132833,-0.124544,0.001076,0,0.0666667,-0.2842111712649996.171133650,
 1712649996.321217790,-2.14681,-1.24004,-0.0680199,0.000133525,-0.125193,0.00109211,0,0.0666667,-0.2842111712649996.321256574,
 1712649996.471346839,-2.14681,-1.24004,-0.0680199,0.000134907,-0.126489,0.00103656,0,0.0666667,-0.2842111712649996.471384457,
 1712649996.621469181,-2.14681,-1.24004,-0.0680199,0.000135598,-0.127137,0.000994454,0,0.0666667,-0.2842111712649996.621506215,
 1712649996.771591231,-2.14681,-1.24004,-0.0680199,0.00013698,-0.128432,0.0010035,0,0.0666667,-0.2842111712649996.771628265,
 1712649996.921712698,-2.14681,-1.24004,-0.0680199,0.00013767,-0.12908,0.00104683,0,0.0666667,-0.2842111712649996.921751190,
 1712649997.071835087,-2.14681,-1.24004,-0.0680199,0.000139051,-0.130374,0.00105186,0,0.0666667,-0.2842111712649997.071873288,
 1712649997.221955782,-2.14681,-1.24004,-0.0680199,0.000139741,-0.131021,0.00110925,0,0.0666667,-0.3221051712649997.221995441,
 1712649997.372082310,-2.14681,-1.24004,-0.0680199,0.00014112,-0.132314,0.0011201,0,0.0666667,-0.3221051712649997.372122844,
 1712649997.522205338,-2.14681,-1.24004,-0.0680199,0.000141809,-0.132961,0.00117067,0,0.0666667,-0.3221051712649997.522241498,
 1712649997.672329825,-2.14681,-1.24004,-0.0680199,0.000143187,-0.134252,0.00117975,0,0.0666667,-0.3221051712649997.672369192,
 1712649997.822454020,-2.14681,-1.24004,-0.0680199,0.000143876,-0.134898,0.00118662,0,0.0666667,-0.3221051712649997.822491054,
 1712649997.972573549,-2.14681,-1.24004,-0.0680199,0.000145252,-0.136188,0.00126379,0,0.0666667,-0.3221051712649997.972612333,
 1712649998.122701325,-2.14681,-1.24004,-0.0680199,0.000145939,-0.136833,0.00130866,0,0.0666667,-0.3221051712649998.122738943,
 1712649998.272825040,-2.14681,-1.24004,-0.0680199,0.000147314,-0.138121,0.00137592,0,0.0666667,-0.3221051712649998.272859742,
 1712649998.422944089,-2.14681,-1.24004,-0.0680199,0.000148,-0.138765,0.00133704,0,0.0666667,-0.3221051712649998.422981999,
 1712649998.573071303,-2.14681,-1.24004,-0.0680199,0.000149372,-0.140051,0.00127659,0,0.0666667,-0.3221051712649998.573108921,
 1712649998.723195310,-2.14681,-1.24004,-0.0680199,0.000150058,-0.140694,0.00119922,0,0.0666667,-0.3221051712649998.723232344,
 1712649998.873317275,-2.14681,-1.24004,-0.0680199,0.000151427,-0.141978,0.00111597,0,0.0666667,-0.3221051712649998.873365682,
 1712649999.023461125,-2.14681,-1.24004,-0.0680199,0.000152112,-0.14262,0.00108041,0,0.0666667,-0.3221051712649999.023499617,
 1712649999.173584068,-2.14681,-1.24004,-0.0680199,0.000153479,-0.143902,0.00103988,0,0.0666667,-0.3221051712649999.173622560,
 1712649999.323710510,-2.14681,-1.24004,-0.0680199,0.000154162,-0.144542,0.000980021,0,0.0666667,-0.3221051712649999.323746961,
 1712649999.473836660,-2.14681,-1.24004,-0.0680199,0.000155526,-0.145821,0.000966117,0,0.0666667,-0.3221051712649999.473876902,
 1712649999.623965435,-2.14681,-1.24004,-0.0680199,0.000156208,-0.14646,0.00102357,0,0.0666667,-0.3221051712649999.624005969,
 1712649999.774090127,-2.14681,-1.24004,-0.0680199,0.000157569,-0.147737,0.00106862,0,0.0666667,-0.3221051712649999.774130078,
 1712649999.924217736,-2.14681,-1.24004,-0.0680199,0.000158249,-0.148375,0.00111583,0,0.0666667,-0.3221051712649999.924256812,
 1712650000.074355597,-2.14681,-1.24004,-0.0680199,0.000159608,-0.149648,0.00110795,0,0.0666667,-0.3221051712650000.074403421,
 1712650000.224490015,-2.14681,-1.24004,-0.0680199,0.000160286,-0.150284,0.00118314,0,0.0666667,-0.3221051712650000.224530841,
 1712650000.374632890,-2.14681,-1.24004,-0.0680199,0.000161642,-0.151555,0.00126415,0,0.0666667,-0.3221051712650000.374725913,
 1712650000.524859456,-2.14681,-1.24004,-0.0680199,0.000162318,-0.15219,0.00128455,0,0.0666667,-0.3221051712650000.524944023,
 1712650000.675087481,-2.14681,-1.24004,-0.0680199,0.00016367,-0.153457,0.00121758,0,0.0666667,-0.3221051712650000.675172048,
 1712650000.825302675,-2.14681,-1.24004,-0.0680199,0.000164345,-0.15409,0.00117079,0,0.0666667,-0.2842111712650000.825393949,
 1712650000.975527492,-2.14681,-1.24004,-0.0680199,0.000165694,-0.155354,0.00121616,0,0.0666667,-0.2842111712650000.975614100,
 1712650001.125749765,-2.14681,-1.24004,-0.0680199,0.000166367,-0.155985,0.0011577,0,0.0666667,-0.2842111712650001.125834915,
 1712650001.275972351,-2.14681,-1.24004,-0.0680199,0.000167711,-0.157246,0.00106305,0,0.0666667,-0.2842111712650001.276111449,
 1712650001.426252385,-2.14681,-1.24004,-0.0680199,0.000168383,-0.157876,0.00114053,0,0.0666667,-0.2842111712650001.426341617,
 1712650001.576473221,-2.14681,-1.24004,-0.0680199,0.000169723,-0.159132,0.00113743,0,0.0666667,-0.2842111712650001.576555455,
 1712650001.726689683,-2.14681,-1.24004,-0.0680199,0.000170393,-0.15976,0.00118093,0,0.0666667,-0.2842111712650001.726776291,
 1712650001.876913144,-2.14681,-1.24004,-0.0680199,0.000171729,-0.161013,0.00121736,0,0.0666667,-0.2842111712650001.877012000,
 1712650002.027164031,-2.14681,-1.24004,-0.0680199,0.000172396,-0.161639,0.00118472,0,0.0666667,-0.2842111712650002.027246848,
 1712650002.177380011,-2.14681,-1.24004,-0.0680199,0.000173729,-0.162888,0.00118799,0,0.0666667,-0.2842111712650002.177459329,
 1712650002.327596283,-2.14681,-1.24004,-0.0680199,0.000174394,-0.163512,0.00121916,0,0.0666667,-0.2842111712650002.327682892,
 1712650002.477820138,-2.14681,-1.24004,-0.0680199,0.000175722,-0.164757,0.00124341,0,0.0666667,-0.2842111712650002.477902955,
 1712650002.628034660,-2.14681,-1.24004,-0.0680199,0.000176385,-0.165378,0.00116129,0,0.0666667,-0.2842111712650002.628126517,
 1712650002.778313920,-2.14681,-1.24004,-0.0680199,0.000177708,-0.166619,0.00117145,0,0.0666667,-0.2842111712650002.778402570,
 1712650002.928534567,-2.14681,-1.24004,-0.0680199,0.000178369,-0.167239,0.00117384,0,0.0666667,-0.2842111712650002.928620300,
 1712650003.078752057,-2.14681,-1.24004,-0.0680199,0.000179688,-0.168475,0.00120156,0,0.0666667,-0.2842111712650003.078843039,
 1712650003.228978928,-2.14681,-1.24004,-0.0680199,0.000180346,-0.169093,0.00112874,0,0.0666667,-0.2842111712650003.229063787,
 1712650003.379197051,-2.14681,-1.24004,-0.0680199,0.00018166,-0.170325,0.0011095,0,0.0666667,-0.2842111712650003.379288325,
 1712650003.529385722,-2.14681,-1.24004,-0.0680199,0.000182316,-0.17094,0.00108477,0,0.0666667,-0.2842111712650003.529469997,
 1712650003.679597721,-2.14681,-1.24004,-0.0680199,0.000183625,-0.172167,0.00108061,0,0.0666667,-0.2842111712650003.679637088,
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 1712650021.698244522,-2.14681,-1.24004,-0.0680199,0.000284142,-0.266411,0.000350532,0,0.0666667,-0.2842111712650021.698333465,
 1712650021.848473442,-2.14681,-1.24004,-0.0680199,0.000285048,-0.267261,0.000439192,0,0.0666667,-0.2842111712650021.848561801,
 1712650021.998710526,-2.14681,-1.24004,-0.0680199,0.000285499,-0.267684,0.000424507,0,0.0666667,-0.2842111712650021.998805009,
 1712650022.148936037,-2.14681,-1.24004,-0.0680199,0.000285949,-0.268106,0.000381845,0,0.0666667,-0.2842111712650022.149018564,
 1712650022.299151928,-2.14681,-1.24004,-0.0680199,0.000286846,-0.268947,0.00033205,0,0.0666667,-0.2842111712650022.299234746,
 1712650022.449371609,-2.14681,-1.24004,-0.0680199,0.000287293,-0.269366,0.000318832,0,0.0666667,-0.2842111712650022.449457635,
 1712650022.599592166,-2.14681,-1.24004,-0.0680199,0.000288183,-0.2702,0.000388174,0,0.0666667,-0.2842111712650022.599678775,
 1712650022.749808931,-2.14681,-1.24004,-0.0680199,0.000289068,-0.27103,0.000415709,0,0.0666667,-0.2842111712650022.749891166,
 1712650022.900024530,-2.14681,-1.24004,-0.0680199,0.000289509,-0.271444,0.000482984,0,0.0666667,-0.2842111712650022.900107348,
 1712650023.050238700,-2.14681,-1.24004,-0.0680199,0.000289949,-0.271856,0.00049082,0,0.0666667,-0.2842111712650023.050327351,
 1712650023.200459642,-2.14681,-1.24004,-0.0680199,0.000290825,-0.272678,0.000430166,0,0.0666667,-0.2842111712650023.200546251,
 1712650023.350681458,-2.14681,-1.24004,-0.0680199,0.000291697,-0.273495,0.000508655,0,0.0666667,-0.2842111712650023.350767776,
 1712650023.500897151,-2.14681,-1.24004,-0.0680199,0.000292131,-0.273902,0.000545735,0,0.0666667,-0.2842111712650023.500985510,
 1712650023.651168250,-2.14681,-1.24004,-0.0680199,0.000292996,-0.274713,0.000552631,0,0.0666667,-0.2842111712650023.651251652,
 1712650023.801377527,-2.14681,-1.24004,-0.0680199,0.000293427,-0.275117,0.000697735,0,0.0666667,-0.2842111712650023.801460346,
 1712650023.951597011,-2.14681,-1.24004,-0.0680199,0.000294285,-0.275922,0.000699751,0,0.0666667,-0.2842111712650023.951685953,
 1712650024.101808682,-2.14681,-1.24004,-0.0680199,0.000294712,-0.276322,0.000729655,0,0.0666667,-0.2842111712650024.101846884,
 1712650024.251935526,-2.14681,-1.24004,-0.0680199,0.000295564,-0.27712,0.000713918,0,0.0666667,-0.2842111712650024.251973144,
 1712650024.402055370,-2.14681,-1.24004,-0.0680199,0.000295988,-0.277518,0.000707845,0,0.0666667,-0.2842111712650024.402100862,
 1712650024.552185713,-2.14681,-1.24004,-0.0680199,0.000296411,-0.277915,0.00063214,0,0.0666667,-0.2842111712650024.552224789,
 1712650024.702312265,-2.14681,-1.24004,-0.0680199,0.000297253,-0.278704,0.000635502,0,0.0666667,-0.2842111712650024.702350758,
 1712650024.852438233,-2.14681,-1.24004,-0.0680199,0.000298091,-0.27949,0.000622344,0,0.0666667,-0.2842111712650024.852479351,
 1712650025.002565077,-2.14681,-1.24004,-0.0680199,0.000298508,-0.279881,0.000601836,0,0.0666667,-0.2842111712650025.002605611,
 1712650025.152699887,-2.14681,-1.24004,-0.0680199,0.00029934,-0.280661,0.000594835,0,0.0666667,-0.2842111712650025.152742171,
 1712650025.302834988,-2.14681,-1.24004,-0.0680199,0.000299754,-0.281049,0.000606105,0,0.0666667,-0.3221051712650025.302872606,
 1712650025.452960175,-2.14681,-1.24004,-0.0680199,0.000300166,-0.281436,0.000580545,0,0.0666667,-0.3221051712650025.453010915,
 1712650025.603103441,-2.14681,-1.24004,-0.0680199,0.000300989,-0.282207,0.000544385,0,0.0666667,-0.3221051712650025.603141351,
 1712650025.753228045,-2.14681,-1.24004,-0.0680199,0.000301807,-0.282974,0.000597542,0,0.0666667,-0.3221051712650025.753267704,
 1712650025.903367812,-2.14681,-1.24004,-0.0680199,0.000302214,-0.283356,0.000542551,0,0.0666667,-0.3221051712650025.903450630,
 1712650026.053584305,-2.14681,-1.24004,-0.0680199,0.000303026,-0.284117,0.00053232,0,0.0666667,-0.3221051712650026.053672956,
 1712650026.203866181,-2.14681,-1.24004,-0.0680199,0.00030343,-0.284496,0.000516088,0,0.0666667,-0.3221051712650026.203951916,
 1712650026.354134643,-2.14681,-1.24004,-0.0680199,0.000304235,-0.285251,0.000491474,0,0.0666667,-0.3221051712650026.354225335,
 1712650026.504353822,-2.14681,-1.24004,-0.0680199,0.000304636,-0.285627,0.000543828,0,0.0666667,-0.3221051712650026.504390857,
 1712650026.654479101,-2.14681,-1.24004,-0.0680199,0.000305036,-0.286001,0.000581778,0,0.0666667,-0.3221051712650026.654521677,
 1712650026.804608171,-2.14681,-1.24004,-0.0680199,0.000305832,-0.286748,0.000636136,0,0.0666667,-0.3221051712650026.804646956,
 1712650026.954731117,-2.14681,-1.24004,-0.0680199,0.000306624,-0.28749,0.000658923,0,0.0666667,-0.3221051712650026.954765236,
 1712650027.104850626,-2.14681,-1.24004,-0.0680199,0.000307018,-0.28786,0.000721557,0,0.0666667,-0.3221051712650027.104889703,
 1712650027.254975997,-2.14681,-1.24004,-0.0680199,0.000307804,-0.288597,0.000685725,0,0.0666667,-0.3221051712650027.255014199,
 1712650027.405098744,-2.14681,-1.24004,-0.0680199,0.000308195,-0.288964,0.000675105,0,0.0666667,-0.3221051712650027.405137529,
 1712650027.555225281,-2.14681,-1.24004,-0.0680199,0.000308974,-0.289694,0.000572315,0,0.0666667,-0.3221051712650027.555261150,
 1712650027.705346570,-2.14681,-1.24004,-0.0680199,0.000309362,-0.290058,0.000523304,0,0.0666667,-0.3221051712650027.705381855,
 1712650027.855468150,-2.14681,-1.24004,-0.0680199,0.000310135,-0.290782,0.000522364,0,0.0666667,-0.3221051712650027.855511601,
 1712650028.005598772,-2.14681,-1.24004,-0.0680199,0.00031052,-0.291143,0.000521173,0,0.0666667,-0.3221051712650028.005643389,
 1712650028.155733275,-2.14681,-1.24004,-0.0680199,0.000310903,-0.291503,0.000515363,0,0.0666667,-0.3221051712650028.155772935,
 1712650028.305864570,-2.14681,-1.24004,-0.0680199,0.000311668,-0.29222,0.000552286,0,0.0666667,-0.3221051712650028.305912395,
 1712650028.456013945,-2.14681,-1.24004,-0.0680199,0.000312428,-0.292932,0.000550537,0,0.0666667,-0.3221051712650028.456069061,
 1712650028.606180526,-2.14681,-1.24004,-0.0680199,0.000312806,-0.293287,0.000544279,0,0.0666667,-0.3221051712650028.606256637,
 1712650028.756352355,-2.14681,-1.24004,-0.0680199,0.00031356,-0.293994,0.000532592,0,0,11712650028.756443339,
 1712650028.906635582,-2.14681,-1.24004,-0.0680199,0.00031356,-0.293994,0.000484469,0,0,11712650028.906731232,
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_03-21-43.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_03-21-43.txt
@ -1,166 +0,0 @@
 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
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 1712805720.115838258,4.78476,-4.59912,1.84639,-0.0323259,0.60544,0.00470638,0,0.2,-0.36,0
 1712805720.266076565,4.78476,-4.59912,1.84639,-0.0323327,0.605568,0.00476077,0,0.2,-0.36,0
 1712805720.416343458,4.78476,-4.59912,1.84639,-0.0323361,0.605632,0.00474549,0,0.2,-0.36,0
 1712805720.566599558,4.78476,-4.59912,1.84639,-0.0323429,0.605759,0.0047666,0,0.2,-0.36,0
 1712805720.716899996,4.78476,-4.59912,1.84639,-0.0323463,0.605822,0.00469509,0,0.2,-0.36,0
 1712805720.867103008,4.78476,-4.59912,1.84639,-0.032353,0.605948,0.00471448,0,0.2,-0.36,0
 1712805721.017321185,4.78476,-4.59912,1.84639,-0.0323564,0.60601,0.00470575,0,0.2,-0.36,0
 1712805721.167766845,4.78476,-4.59912,1.84639,-0.032363,0.606135,0.00468425,0,0.2,-0.36,0
 1712805721.318167001,4.78476,-4.59912,1.84639,-0.0323663,0.606197,0.00467556,0,0.2,-0.36,0
 1712805721.468456897,4.78476,-4.59912,1.84639,-0.0323729,0.606321,0.00462881,0,0.2,-0.36,0
 1712805721.618766044,4.78476,-4.59912,1.84639,-0.0323762,0.606382,0.00459044,0,0.2,-0.36,0
 1712805721.768948888,4.78476,-4.59912,1.84639,-0.0323827,0.606504,0.0045629,0,0.2,-0.36,0
 1712805721.919144858,4.78476,-4.59912,1.84639,-0.032386,0.606565,0.0045911,0,0.2,-0.36,0
 1712805722.069384564,4.78476,-4.59912,1.84639,-0.0323924,0.606686,0.00456372,0,0.2,-0.36,0
 1712805722.219589827,4.78476,-4.59912,1.84639,-0.0323957,0.606747,0.0046587,0,0.2,-0.36,0
 1712805722.369788965,4.78476,-4.59912,1.84639,-0.0324021,0.606867,0.00463655,0,0.2,-0.36,0
 1712805722.520048775,4.78476,-4.59912,1.84639,-0.0324053,0.606926,0.00464368,0,0.2,-0.36,0
 1712805722.670285249,4.78476,-4.59912,1.84639,-0.0324116,0.607045,0.00460014,0,0.2,-0.36,0
 1712805722.820515598,4.78476,-4.59912,1.84639,-0.0324179,0.607163,0.0046201,0,0.2,-0.36,0
 1712805722.970753531,4.78476,-4.59912,1.84639,-0.032421,0.607222,0.00460747,0,0.2,-0.36,0
 1712805723.121019726,4.78476,-4.59912,1.84639,-0.0324242,0.607281,0.00461483,0,0.2,-0.36,0
 1712805723.271350669,4.78476,-4.59912,1.84639,-0.0324304,0.607397,0.00461302,0,0.2,-0.36,0
 1712805723.421606646,4.78476,-4.59912,1.84639,-0.0324335,0.607455,0.00466529,0,0.2,-0.36,0
 1712805723.571860290,4.78476,-4.59912,1.84639,-0.0324397,0.607571,0.00469372,0,0.2,-0.36,0
 1712805723.722125309,4.78476,-4.59912,1.84639,-0.0324458,0.607686,0.00464039,0,0.2,-0.36,0
 1712805723.872362326,4.78476,-4.59912,1.84639,-0.0324489,0.607743,0.00458799,0,0.2,-0.36,0
 1712805724.022602839,4.78476,-4.59912,1.84639,-0.0324519,0.6078,0.00464696,0,0.2,-0.36,0
 1712805724.172869276,4.78476,-4.59912,1.84639,-0.0324579,0.607913,0.00476227,0,0.2,-0.36,0
 1712805724.323111503,4.78476,-4.59912,1.84639,-0.032461,0.60797,0.00478373,0,0.2,-0.36,0
 1712805724.473352564,4.78476,-4.59912,1.84639,-0.032467,0.608082,0.00476265,0,0.2,-0.36,0
 1712805724.623639712,4.78476,-4.59912,1.84639,-0.0324699,0.608138,0.00478363,0,0,1,0
 1712805724.773871729,4.78476,-4.59912,1.84639,-0.0324759,0.608249,0.00486347,0,0,1,0
 1712805724.924116874,4.78476,-4.59912,1.84639,-0.0324818,0.608359,0.00494273,0,0,1,0
 1712805725.074377459,4.78476,-4.59912,1.84639,-0.0324847,0.608414,0.00419359,0,0,1,0
 1712805725.224635689,4.78476,-4.59912,1.84639,-0.0324906,0.608524,0.00465793,0,0,1,0
 1712805725.374879626,4.78476,-4.59912,1.84639,-0.0324935,0.608578,0.00485792,0,0,1,0
 1712805725.525135231,4.78476,-4.59912,1.84639,-0.0324964,0.608633,0.00478399,0,0,1,0
 1712805725.675373917,4.78476,-4.59912,1.84639,-0.0325021,0.608741,0.00482811,0,0,1,0
 1712805725.825620771,4.78476,-4.59912,1.84639,-0.0325079,0.608848,0.00492557,0,0,1,0
 1712805725.975876668,4.78476,-4.59912,1.84639,-0.0325107,0.608902,0.00490433,0,0,1,0
 1712805726.126118239,4.78476,-4.59912,1.84639,-0.0325136,0.608955,0.00502085,0,0,1,0
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 1712805726.576907395,4.78476,-4.59912,1.84639,-0.0325277,0.609219,0.00504736,0,0,1,0
 1712805726.727218090,4.78476,-4.59912,1.84639,-0.0325333,0.609324,0.00523898,0,0,1,0
 1712805726.877454987,4.78476,-4.59912,1.84639,-0.032536,0.609375,0.00526759,0,0,1,0
 1712805727.036192708,4.78476,-4.59912,1.84639,-0.0325388,0.609427,0.0053156,0,0,1,0
 1712805727.186421981,4.78476,-4.59912,1.84639,-0.0325443,0.60953,0.00536043,0,0,1,0
 1712805727.336736720,4.78476,-4.59912,1.84639,-0.0325498,0.609633,0.00539112,0,0,1,0
 1712805727.486926614,4.78476,-4.59912,1.84639,-0.0325525,0.609684,0.00546745,0,0,1,0
 1712805727.637187390,4.78476,-4.59912,1.84639,-0.0325579,0.609785,0.00546009,0,0,1,0
 1712805727.787503880,4.78476,-4.59912,1.84639,-0.0325606,0.609836,0.00537387,0,0,1,0
 1712805727.937729069,4.78476,-4.59912,1.84639,-0.032566,0.609936,0.00534059,0,0,1,0
 1712805728.088167465,4.78476,-4.59912,1.84639,-0.0325686,0.609986,0.00531141,0,0,1,0
 1712805728.238478081,4.78476,-4.59912,1.84639,-0.032574,0.610086,0.00520803,0,0,1,0
 1712805728.388717233,4.78476,-4.59912,1.84639,-0.0325766,0.610136,0.00524163,0,0,1,0
 1712805728.539028433,4.78476,-4.59912,1.84639,-0.0325819,0.610234,0.00528393,0,0,1,0
 1712805728.689230831,4.78476,-4.59912,1.84639,-0.0325845,0.610283,0.00524671,0,0,1,0
 1712805728.839596286,4.78476,-4.59912,1.84639,-0.0325897,0.610381,0.00526285,0,0,1,0
 1712805728.989911569,4.78476,-4.59912,1.84639,-0.0325923,0.61043,0.00527587,0,0,1,0
 1712805729.140088555,4.78476,-4.59912,1.84639,-0.0325949,0.610478,0.00528042,0,0,1,0
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_08-16-34.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_08-16-34.txt
@ -1 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_08-20-45.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_08-20-45.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_09-07-03.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_09-07-03.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_09-38-48.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_09-38-48.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_09-45-06.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_09-45-06.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_09-50-59.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_09-50-59.txt
@ -1,629 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1712829060.162163947,-2.14681,-1.24004,-0.0680199,1.64548,1.13302,-0.135341,0,0.0666667,-0.284211,0
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 1712829060.612659420,-2.14681,-1.24004,-0.0680199,1.6552,1.13164,-0.171837,0,0.0666667,-0.36,0
 1712829060.762794438,-2.14681,-1.24004,-0.0680199,1.6651,1.13021,-0.205719,0,0.0666667,-0.322105,0
 1712829060.912919248,-2.14681,-1.24004,-0.0680199,1.67008,1.12961,-0.241236,0,0.0666667,-0.36,0
 1712829061.063056017,-2.14681,-1.24004,-0.0680199,1.67479,1.12892,-0.271849,0,0.0666667,-0.36,0
 1712829061.213195701,-2.14681,-1.24004,-0.0680199,1.68378,1.12215,-0.322571,0,0.0666667,-0.322105,0
 1712829061.363342677,-2.14681,-1.24004,-0.0680199,1.69303,1.1165,-0.348078,0,0.0666667,-0.322105,0
 1712829061.513484403,-2.14681,-1.24004,-0.0680199,1.7029,1.11526,-0.385198,0,0.0666667,-0.36,0
 1712829061.663613880,-2.14681,-1.24004,-0.0680199,1.71279,1.1141,-0.443259,0,0.0666667,-0.36,0
 1712829061.813742772,-2.14681,-1.24004,-0.0680199,1.72269,1.11287,-0.476472,0,0.0666667,-0.36,0
 1712829061.963885957,-2.14681,-1.24004,-0.0680199,1.73139,1.10186,-0.525003,0,0.0666667,-0.36,0
 1712829062.114034391,-2.14681,-1.24004,-0.0680199,1.73138,1.10206,-0.559208,0,0.0666667,-0.36,0
 1712829062.264171450,-2.14681,-1.24004,-0.0680199,1.74124,1.10088,-0.599884,0,0.0666667,-0.322105,0
 1712829062.414308217,-2.14681,-1.24004,-0.0680199,1.74965,1.0899,-0.650689,0,0.0666667,-0.36,0
 1712829062.564447609,-2.14681,-1.24004,-0.0680199,1.75956,1.08884,-0.685948,0,0.0666667,-0.36,0
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 1712829062.864717060,-2.14681,-1.24004,-0.0680199,1.76706,1.0682,-0.795256,0,0.0666667,-0.322105,0
 1712829063.014857911,-2.14681,-1.24004,-0.0680199,1.7769,1.06738,-0.832354,0,0.0666667,-0.36,0
 1712829063.165048928,-2.14681,-1.24004,-0.0680199,1.77592,1.05761,-0.873507,0,0.0666667,-0.36,0
 1712829063.315283987,-2.14681,-1.24004,-0.0680199,1.78575,1.05662,-0.930432,0,0.0666667,-0.36,0
 1712829063.465517005,-2.14681,-1.24004,-0.0680199,1.78483,1.04675,-0.959404,0,0.0666667,-0.36,0
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 1712829154.347387590,
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_10-01-49.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-11_10-01-49.txt
@ -1,364 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_03-49-59.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_03-49-59.txt
@ -1,134 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1712893799.843726174,-2.14681,-1.24004,-0.0680199,0.42981,0.0131569,-0.000630633,0,0.0666667,-0.246316,0
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 1712893819.519355269,-2.14681,-1.24004,-0.0680199,0.465638,-1.00495,-1.8704,0,0.0666667,-0.36,0
 1712893819.669580539,-2.14681,-1.24004,-0.0680199,0.46643,-0.998576,-1.87162,0,0.0666667,-0.36,0
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_03-51-35.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_03-51-35.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_07-12-16.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_07-12-16.txt
@ -1,522 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1712905937.474643823,-2.14681,-1.24004,-0.0680199,0.177242,0.0740896,-0.000899202,0,0.0666667,-0.170526,0
 1712905937.624794476,-2.14681,-1.24004,-0.0680199,0.177757,0.0742772,-0.000913159,0,0.0666667,-0.284211,0
 1712905937.774929383,-2.14681,-1.24004,-0.0680199,0.178817,0.0746688,-0.000962068,0,0.0666667,-0.284211,0
 1712905937.925053208,-2.14681,-1.24004,-0.0680199,0.179338,0.074878,-0.000950099,0,0.0666667,-0.284211,0
 1712905938.075205508,-2.14681,-1.24004,-0.0680199,0.180306,0.0753042,-0.00102252,0,0.0666667,-0.284211,0
 1712905938.225337892,-2.14681,-1.24004,-0.0680199,0.180814,0.0755517,-0.00101609,0,0.0666667,-0.284211,0
 1712905938.375469984,-2.14681,-1.24004,-0.0680199,0.181844,0.0759866,-0.00101553,0,0.0666667,-0.284211,0
 1712905938.525605866,-2.14681,-1.24004,-0.0680199,0.182385,0.0762635,-0.00102405,0,0.0666667,-0.208421,0
 1712905938.675737375,-2.14681,-1.24004,-0.0680199,0.183474,0.0768111,-0.00097332,0,0.0666667,-0.208421,0
 1712905938.827142909,-2.14681,-1.24004,-0.0680199,0.183998,0.0769695,-0.000891447,0,0.0666667,-0.208421,0
 1712905938.977312035,-2.14681,-1.24004,-0.0680199,0.185,0.0774093,-0.000772483,0,0.0666667,-0.284211,0
 1712905939.127450865,-2.14681,-1.24004,-0.0680199,0.185528,0.0776405,-0.000799086,0,0.0666667,-0.284211,0
 1712905939.277586263,-2.14681,-1.24004,-0.0680199,0.186455,0.0780198,-0.000809079,0,0.0666667,-0.284211,0
 1712905939.427719036,-2.14681,-1.24004,-0.0680199,0.186935,0.0781997,-0.000762302,0,0.0666667,-0.284211,0
 1712905939.577845685,-2.14681,-1.24004,-0.0680199,0.187891,0.0786168,-0.000782933,0,0.0666667,-0.284211,0
 1712905939.727973210,-2.14681,-1.24004,-0.0680199,0.188397,0.0788153,-0.000766271,0,0.0666667,-0.284211,0
 1712905939.878904402,-2.14681,-1.24004,-0.0680199,0.189425,0.079249,-0.000737069,0,0.0666667,-0.284211,0
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 1712905940.179175651,-2.14681,-1.24004,-0.0680199,0.190908,0.0798733,-0.000632896,0,0.0666667,-0.284211,0
 1712905940.329373840,-2.14681,-1.24004,-0.0680199,0.191433,0.080129,-0.000645019,0,0.0666667,-0.284211,0
 1712905940.479982028,-2.14681,-1.24004,-0.0680199,0.192425,0.080579,-0.000647875,0,0.0666667,-0.284211,0
 1712905940.630230082,-2.14681,-1.24004,-0.0680199,0.192897,0.0807784,-0.000623585,0,0.0666667,-0.284211,0
 1712905940.780472303,-2.14681,-1.24004,-0.0680199,0.193828,0.0812331,-0.000661228,0,0.0666667,-0.284211,0
 1712905940.930732604,-2.14681,-1.24004,-0.0680199,0.194291,0.081459,-0.000683067,0,0.0666667,-0.284211,0
 1712905941.080959569,-2.14681,-1.24004,-0.0680199,0.195334,0.0819141,-0.00060193,0,0.0666667,-0.284211,0
 1712905941.231345938,-2.14681,-1.24004,-0.0680199,0.195787,0.082078,-0.000608807,0,0.0666667,-0.284211,0
 1712905941.381590001,-2.14681,-1.24004,-0.0680199,0.196661,0.0824499,-0.000604553,0,0.0666667,-0.284211,0
 1712905941.531828524,-2.14681,-1.24004,-0.0680199,0.197162,0.0826898,-0.000558547,0,0.0666667,-0.284211,0
 1712905941.682065297,-2.14681,-1.24004,-0.0680199,0.198143,0.0830916,-0.00070162,0,0.0666667,-0.284211,0
 1712905941.832295072,-2.14681,-1.24004,-0.0680199,0.198619,0.0832716,-0.000763311,0,0.0666667,-0.284211,0
 1712905941.982533594,-2.14681,-1.24004,-0.0680199,0.199524,0.0836104,-0.000766307,0,0.0666667,-0.284211,0
 1712905942.132773613,-2.14681,-1.24004,-0.0680199,0.200012,0.0838241,-0.000914778,0,0.0666667,-0.284211,0
 1712905942.283089210,-2.14681,-1.24004,-0.0680199,0.200888,0.0842005,-0.00087009,0,0.0666667,-0.284211,0
 1712905942.433338029,-2.14681,-1.24004,-0.0680199,0.201304,0.0843815,-0.00085026,0,0.0666667,-0.284211,0
 1712905942.583573725,-2.14681,-1.24004,-0.0680199,0.202153,0.0847703,-0.000817696,0,0.0666667,-0.284211,0
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 1712905943.184387492,-2.14681,-1.24004,-0.0680199,0.204853,0.0859248,-0.000915834,0,0.0666667,-0.36,0
 1712905943.334515671,-2.14681,-1.24004,-0.0680199,0.205794,0.0862645,-0.000907011,0,0.0666667,-0.36,0
 1712905943.484658139,-2.14681,-1.24004,-0.0680199,0.20623,0.0865009,-0.000962058,0,0.0666667,-0.36,0
 1712905943.634801190,-2.14681,-1.24004,-0.0680199,0.206656,0.0866897,-0.0010258,0,0.0666667,-0.36,0
 1712905943.785077506,-2.14681,-1.24004,-0.0680199,0.20749,0.0870485,-0.00105198,0,0.0666667,-0.36,0
 1712905943.935303958,-2.14681,-1.24004,-0.0680199,0.207944,0.0872516,-0.00106728,0,0.0666667,-0.36,0
 1712905944.085548403,-2.14681,-1.24004,-0.0680199,0.208853,0.0876224,-0.00102422,0,0.0666667,-0.36,0
 1712905944.235772897,-2.14681,-1.24004,-0.0680199,0.20978,0.0880145,-0.000944232,0,0.0666667,-0.36,0
 1712905944.386003514,-2.14681,-1.24004,-0.0680199,0.21019,0.0882043,-0.000921892,0,0.0666667,-0.36,0
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 1712906036.905904065,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906037.056101196,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906037.206368734,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
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 1712906038.408658557,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906038.558949607,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906038.709324946,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906038.859676661,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
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 1712906039.160351112,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906039.310718754,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906039.461099230,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906039.611394541,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906039.761554523,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906039.911719171,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906040.061888555,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906040.212060962,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906040.362221121,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906040.512382154,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
 1712906040.662596560,-2.14681,-1.24004,-0.0680199,0.134699,0.0541238,-0.000552669,0,0,1,0
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_07-19-09.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_07-19-09.txt
@ -1,166 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1712906350.384038597,-2.14681,-1.24004,-0.0680199,0.0837465,0.00463392,0.000325265,0,0.0666667,-0.246316,0
 1712906350.534185664,-2.14681,-1.24004,-0.0680199,0.0852984,0.00475586,0.00022712,0,0.0666667,-0.246316,0
 1712906350.684314353,-2.14681,-1.24004,-0.0680199,0.0861105,0.0047737,0.000200279,0,0.0666667,-0.246316,0
 1712906350.834436042,-2.14681,-1.24004,-0.0680199,0.0877534,0.00483134,0.000182127,0,0.0666667,-0.246316,0
 1712906350.984565606,-2.14681,-1.24004,-0.0680199,0.0886088,0.00486574,0.000185313,0,0.0666667,-0.246316,0
 1712906351.134693434,-2.14681,-1.24004,-0.0680199,0.0894354,0.00493374,0.000183066,0,0.0666667,-0.246316,0
 1712906351.284834682,-2.14681,-1.24004,-0.0680199,0.0909572,0.00499198,0.000212912,0,0.0666667,-0.284211,0
 1712906351.435063731,-2.14681,-1.24004,-0.0680199,0.0925676,0.0051171,0.000170048,0,0.0666667,-0.322105,0
 1712906351.585293947,-2.14681,-1.24004,-0.0680199,0.0933923,0.00516307,0.000154383,0,0.0666667,-0.322105,0
 1712906351.735518329,-2.14681,-1.24004,-0.0680199,0.0950304,0.00529455,0.000112483,0,0.0666667,-0.322105,0
 1712906351.885781798,-2.14681,-1.24004,-0.0680199,0.0957651,0.0053294,0.000176978,0,0.0666667,-0.322105,0
 1712906352.036029228,-2.14681,-1.24004,-0.0680199,0.0974375,0.00539376,0.000130342,0,0.0666667,-0.322105,0
 1712906352.186280753,-2.14681,-1.24004,-0.0680199,0.098266,0.00540599,6.85751e-05,0,0.0666667,-0.322105,0
 1712906352.336503984,-2.14681,-1.24004,-0.0680199,0.0998332,0.00555781,6.31296e-05,0,0.0666667,-0.322105,0
 1712906352.486725464,-2.14681,-1.24004,-0.0680199,0.100678,0.00559298,5.71625e-05,0,0.0666667,-0.322105,0
 1712906352.636947528,-2.14681,-1.24004,-0.0680199,0.102343,0.00571124,0.000130291,0,0.0666667,-0.322105,0
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 1712906352.937394572,-2.14681,-1.24004,-0.0680199,0.103959,0.00578855,6.47969e-05,0,0.0666667,-0.322105,0
 1712906353.087633563,-2.14681,-1.24004,-0.0680199,0.105568,0.00591973,-4.20285e-05,0,0.0666667,-0.322105,0
 1712906353.237861184,-2.14681,-1.24004,-0.0680199,0.107219,0.00597256,-9.34659e-06,0,0.0666667,-0.322105,0
 1712906353.388091722,-2.14681,-1.24004,-0.0680199,0.107951,0.0060141,-6.82558e-05,0,0.0666667,-0.322105,0
 1712906353.538320218,-2.14681,-1.24004,-0.0680199,0.108806,0.00608034,-7.95341e-05,0,0.0666667,-0.322105,0
 1712906353.688593636,-2.14681,-1.24004,-0.0680199,0.11254,0.00620687,-2.87904e-05,0,0.0666667,-0.322105,0
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 1712906354.740045292,-2.14681,-1.24004,-0.0680199,0.121528,0.00677608,9.48204e-05,0,0.0666667,-0.36,0
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 1712906355.040297838,-2.14681,-1.24004,-0.0680199,0.124041,0.00700465,3.39219e-05,0,0.0666667,-0.36,0
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 1712906356.841870230,-2.14681,-1.24004,-0.0680199,0.139266,0.00792994,7.30339e-05,0,0.0666667,-0.246316,0
 1712906356.991998718,-2.14681,-1.24004,-0.0680199,0.140113,0.00795902,5.4731e-05,0,0.0666667,-0.246316,0
 1712906357.142126636,-2.14681,-1.24004,-0.0680199,0.141847,0.00805036,7.03826e-05,0,0.0666667,-0.246316,0
 1712906357.292253681,-2.14681,-1.24004,-0.0680199,0.142642,0.00809285,0.000123896,0,0.0666667,-0.322105,0
 1712906357.442383351,-2.14681,-1.24004,-0.0680199,0.144242,0.00810346,0.000110702,0,0.0666667,-0.322105,0
 1712906357.592478600,-2.14681,-1.24004,-0.0680199,0.145054,0.00815975,3.65869e-05,0,0.0666667,-0.322105,0
 1712906357.742610895,-2.14681,-1.24004,-0.0680199,0.146723,0.00833487,2.85434e-05,0,0.0666667,-0.322105,0
 1712906357.892735022,-2.14681,-1.24004,-0.0680199,0.147529,0.00835016,-2.81884e-05,0,0.0666667,-0.322105,0
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 1712906358.944179820,-2.14681,-1.24004,-0.0680199,0.156501,0.00882692,9.33138e-05,0,0.0666667,-0.322105,0
 1712906359.094409274,-2.14681,-1.24004,-0.0680199,0.157378,0.00888329,9.16775e-05,0,0.0666667,-0.322105,0
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 1712906359.995840873,-2.14681,-1.24004,-0.0680199,0.16511,0.00933531,4.07988e-05,0,0.0666667,-0.36,0
 1712906360.146070638,-2.14681,-1.24004,-0.0680199,0.166833,0.00945744,9.95974e-05,0,0.0666667,-0.36,0
 1712906360.296302446,-2.14681,-1.24004,-0.0680199,0.167724,0.00949256,7.29309e-05,0,0.0666667,-0.36,0
 1712906360.446547380,-2.14681,-1.24004,-0.0680199,0.169506,0.00959166,6.64274e-05,0,0.0666667,-0.36,0
 1712906360.596794356,-2.14681,-1.24004,-0.0680199,0.170428,0.0096267,8.69574e-05,0,0.0666667,-0.36,0
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 1712906360.897273724,-2.14681,-1.24004,-0.0680199,0.173068,0.00978291,4.725e-05,0,0.0666667,-0.36,0
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 1712906368.406337410,-2.14681,-1.24004,-0.0680199,0.238852,0.013403,0.000355682,0,0.0666667,-0.246316,0
 1712906368.556467817,-2.14681,-1.24004,-0.0680199,0.240573,0.0134968,0.00031154,0,0.0666667,-0.284211,0
 1712906368.706594724,-2.14681,-1.24004,-0.0680199,0.241404,0.013535,0.000331467,0,0.0666667,-0.246316,0
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 1712906370.207891630,-2.14681,-1.24004,-0.0680199,0.253754,0.0142575,0.000411609,0,0.0666667,-0.322105,0
 1712906370.358024398,-2.14681,-1.24004,-0.0680199,0.255158,0.0143145,0.000374955,0,0.0666667,-0.322105,0
 1712906370.508161833,-2.14681,-1.24004,-0.0680199,0.255889,0.014377,0.000454958,0,0.0666667,-0.322105,0
 1712906370.658291975,-2.14681,-1.24004,-0.0680199,0.257318,0.0143247,0.000494182,0,0.0666667,-0.322105,0
 1712906370.808423867,-2.14681,-1.24004,-0.0680199,0.258001,0.0143361,0.000527738,0,0.0666667,-0.322105,0
 1712906370.958556635,-2.14681,-1.24004,-0.0680199,0.259478,0.0142926,0.000559035,0,0.0666667,-0.322105,0
 1712906371.108689995,-2.14681,-1.24004,-0.0680199,0.260203,0.0143554,0.000542395,0,0.0666667,-0.322105,0
 1712906371.258817817,-2.14681,-1.24004,-0.0680199,0.261631,0.0143447,0.000600315,0,0.0666667,-0.322105,0
 1712906371.408959057,-2.14681,-1.24004,-0.0680199,0.262269,0.0142717,0.000551897,0,0.0666667,-0.322105,0
 1712906371.559093296,-2.14681,-1.24004,-0.0680199,0.263626,0.0142949,0.000456019,0,0.0666667,-0.36,0
 1712906371.709222285,-2.14681,-1.24004,-0.0680199,0.264316,0.0143065,0.00041048,0,0.0666667,-0.36,0
 1712906371.859347189,-2.14681,-1.24004,-0.0680199,0.265699,0.0143294,0.000351398,0,0.0666667,-0.36,0
 1712906372.009476470,-2.14681,-1.24004,-0.0680199,0.266411,0.0143756,0.000257732,0,0.0666667,-0.36,0
 1712906372.159607806,-2.14681,-1.24004,-0.0680199,0.267828,0.014477,0.00025745,0,0.0666667,-0.36,0
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 1712906372.459864059,-2.14681,-1.24004,-0.0680199,0.2702,0.0144344,0.000363314,0,0.0666667,-0.36,0
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 1712906373.360648893,-2.14681,-1.24004,-0.0680199,0.276088,0.0145879,0.00044215,0,0.0666667,-0.246316,0
 1712906373.510785783,-2.14681,-1.24004,-0.0680199,0.276687,0.0146698,0.000469043,0,0.0666667,-0.246316,0
 1712906373.660912172,-2.14681,-1.24004,-0.0680199,0.277909,0.0147348,0.000570763,0,0.0666667,-0.246316,0
 1712906373.811043521,-2.14681,-1.24004,-0.0680199,0.278514,0.014711,0.000380885,0,0.0666667,-0.246316,0
 1712906373.961171660,-2.14681,-1.24004,-0.0680199,0.279796,0.0148463,0.000434182,0,0.0666667,-0.246316,0
 1712906374.111307977,-2.14681,-1.24004,-0.0680199,0.280412,0.0149538,0.000667448,0,0.0666667,-0.246316,0
 1712906374.261437004,-2.14681,-1.24004,-0.0680199,0.281645,0.0150014,0.0010425,0,0.0666667,-0.246316,0
 1712906374.411566615,-2.14681,-1.24004,-0.0680199,0.282183,0.014993,0.000636967,0,0.0666667,-0.246316,0
 1712906374.561692434,-2.14681,-1.24004,-0.0680199,0.283428,0.0151019,0.00111613,0,0.0666667,-0.246316,0
 1712906374.711829045,-2.14681,-1.24004,-0.0680199,0.284036,0.0150937,0.000678869,0,0.0666667,-0.246316,0
 1712906374.861964199,-2.14681,-1.24004,-0.0680199,0.285312,0.0152016,0.000773351,0,0.0666667,-0.246316,0
 1712906375.012144566,-2.14681,-1.24004,-0.0680199,0.285312,0.0152016,0.000773351,0,0.0666667,-0.246316,0
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_07-20-31.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-12_07-20-31.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-15_03-06-28.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-15_03-06-28.txt
@ -1,163 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1713150388.882741802,-2.14681,-1.24004,-0.0680199,0.763981,-0.208801,-0.00965225,0,0.0666667,-0.36,0
 1713150389.033009942,-2.14681,-1.24004,-0.0680199,0.764145,-0.208789,-0.0227542,0,0.0666667,-0.36,0
 1713150389.183249499,-2.14681,-1.24004,-0.0680199,0.768206,-0.208866,-0.0610694,0,0.0666667,-0.322105,0
 1713150389.333478847,-2.14681,-1.24004,-0.0680199,0.768361,-0.208955,-0.0829281,0,0.0666667,-0.322105,0
 1713150389.483716654,-2.14681,-1.24004,-0.0680199,0.778593,-0.209123,-0.121817,0,0.0666667,-0.284211,0
 1713150389.633947460,-2.14681,-1.24004,-0.0680199,0.788618,-0.209288,-0.158912,0,0.0666667,-0.36,0
 1713150389.784156392,-2.14681,-1.24004,-0.0680199,0.788666,-0.209445,-0.196684,0,0.0666667,-0.322105,0
 1713150389.934390699,-2.14681,-1.24004,-0.0680199,0.798757,-0.209856,-0.247415,0,0.0666667,-0.322105,0
 1713150390.084637256,-2.14681,-1.24004,-0.0680199,0.808794,-0.210043,-0.289641,0,0.0666667,-0.284211,0
 1713150390.234931354,-2.14681,-1.24004,-0.0680199,0.818694,-0.215593,-0.328463,0,0.0666667,-0.36,0
 1713150390.385160994,-2.14681,-1.24004,-0.0680199,0.828646,-0.220528,-0.359749,0,0.0666667,-0.36,0
 1713150390.535418051,-2.14681,-1.24004,-0.0680199,0.828799,-0.220612,-0.398435,0,0.0666667,-0.36,0
 1713150390.685768733,-2.14681,-1.24004,-0.0680199,0.838933,-0.22065,-0.432746,0,0.0666667,-0.36,0
 1713150390.836108623,-2.14681,-1.24004,-0.0680199,0.84905,-0.230558,-0.480431,0,0.0666667,-0.322105,0
 1713150390.986433930,-2.14681,-1.24004,-0.0680199,0.858777,-0.2307,-0.525132,0,0.0666667,-0.36,0
 1713150391.136859861,-2.14681,-1.24004,-0.0680199,0.868223,-0.241122,-0.574013,0,0.0666667,-0.36,0
 1713150391.287212877,-2.14681,-1.24004,-0.0680199,0.867409,-0.241721,-0.615339,0,0.0666667,-0.36,0
 1713150391.437501433,-2.14681,-1.24004,-0.0680199,0.877523,-0.25152,-0.656635,0,0.0666667,-0.36,0
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 1713150391.888230604,-2.14681,-1.24004,-0.0680199,0.897067,-0.26859,-0.82198,0,0.0666667,-0.36,0
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 1713150392.188701259,-2.14681,-1.24004,-0.0680199,0.90671,-0.281069,-0.917056,0,0.0666667,-0.36,0
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 1713150393.240398865,-2.14681,-1.24004,-0.0680199,0.933129,-0.330487,-1.2693,0,0.0666667,-0.36,0
 1713150393.390630546,-2.14681,-1.24004,-0.0680199,0.931742,-0.340738,-1.31541,0,0.0666667,-0.36,0
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 1713150393.841318300,-2.14681,-1.24004,-0.0680199,0.928531,-0.371576,-1.49118,0,0.0888889,-0.36,0
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 1713150395.795064871,-2.14681,-1.24004,-0.0680199,0.823189,-0.624556,-2.14692,0,0.2,-0.36,0
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 1713150396.095713735,-2.14681,-1.24004,-0.0680199,0.795887,-0.66447,-2.2368,0,0.2,-0.36,0
 1713150396.246140833,-2.14681,-1.24004,-0.0680199,0.774512,-0.684641,-2.2732,0,0.2,-0.36,0
 1713150396.396481598,-2.14681,-1.24004,-0.0680199,0.750764,-0.704794,-2.34038,0,0.2,-0.36,0
 1713150396.546805155,-2.14681,-1.24004,-0.0680199,0.729168,-0.725048,-2.38597,0,0.2,-0.36,0
 1713150396.697049962,-2.14681,-1.24004,-0.0680199,0.707259,-0.735278,-2.41605,0,0.2,-0.36,0
 1713150396.847274935,-2.14681,-1.24004,-0.0680199,0.693503,-0.755104,-2.45965,0,0.2,-0.36,0
 1713150396.997517700,-2.14681,-1.24004,-0.0680199,0.669473,-0.775407,-2.51302,0,0.2,-0.36,0
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 1713150398.199414613,-2.14681,-1.24004,-0.0680199,0.433715,-0.861371,-2.88466,0,0.2,-0.208421,0
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 1713150398.950598397,-2.14681,-1.24004,-0.0680199,0.272304,-0.883277,-3.06733,0,0.2,-0.0568421,0
 1713150399.100831245,-2.14681,-1.24004,-0.0680199,0.236868,-0.883326,-3.08653,0,0.2,-0.0568421,0
 1713150399.251068468,-2.14681,-1.24004,-0.0680199,0.214064,-0.883422,-3.10025,0,0.2,-0.0568421,0
 1713150399.401326109,-2.14681,-1.24004,-0.0680199,0.178535,-0.883405,-3.1125,0,0.2,-0.0189474,0
 1713150399.551564790,-2.14681,-1.24004,-0.0680199,0.145785,-0.883553,-3.12347,0,0.2,-0.0189474,0
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 1713150413.073198107,-2.14681,-1.24004,-0.0680199,-2.17526,-1.17093,-1.63631,0,0,0.5,0
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-15_03-15-17.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-15_03-15-17.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-15_03-24-23.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-15_03-24-23.txt
@ -1,52 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1713151464.755506944,-2.14681,-1.24004,-0.0680199,0.0647155,-0.123901,0.000370491,0,0.0666667,-0.36,0
 1713151464.905783250,-2.14681,-1.24004,-0.0680199,0.0647692,-0.123906,-0.0201506,0,0.0666667,-0.322105,0
 1713151465.056033599,-2.14681,-1.24004,-0.0680199,0.0639438,-0.124406,-0.0511023,0,0.0666667,-0.322105,0
 1713151465.206292697,-2.14681,-1.24004,-0.0680199,0.0637784,-0.124591,-0.0781078,0,0.0666667,-0.36,0
 1713151465.356542171,-2.14681,-1.24004,-0.0680199,0.0738376,-0.124505,-0.109368,0,0.0666667,-0.284211,0
 1713151465.506796019,-2.14681,-1.24004,-0.0680199,0.0833386,-0.12439,-0.153226,0,0.0666667,-0.322105,0
 1713151465.657043743,-2.14681,-1.24004,-0.0680199,0.0920343,-0.124524,-0.1846,0,0.0666667,-0.322105,0
 1713151465.807282133,-2.14681,-1.24004,-0.0680199,0.101534,-0.124584,-0.225409,0,0.0666667,-0.284211,0
 1713151465.957540064,-2.14681,-1.24004,-0.0680199,0.100981,-0.124678,-0.258169,0,0.0666667,-0.284211,0
 1713151466.107780788,-2.14681,-1.24004,-0.0680199,0.110383,-0.134636,-0.297263,0,0.0666667,-0.36,0
 1713151466.258024428,-2.14681,-1.24004,-0.0680199,0.118412,-0.134907,-0.344387,0,0.0666667,-0.36,0
 1713151466.408315610,-2.14681,-1.24004,-0.0680199,0.126967,-0.134852,-0.373855,0,0.0666667,-0.36,0
 1713151466.558571208,-2.14681,-1.24004,-0.0680199,0.134213,-0.145313,-0.418507,0,0.0666667,-0.322105,0
 1713151466.708813098,-2.14681,-1.24004,-0.0680199,0.130558,-0.146053,-0.467952,0,0.0666667,-0.36,0
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 1713151468.361431306,-2.14681,-1.24004,-0.0680199,0.155647,-0.213309,-0.994882,0,0.0666667,-0.36,0
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 1713151468.661950378,-2.14681,-1.24004,-0.0680199,0.155161,-0.235565,-1.10184,0,0.0666667,-0.36,0
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 1713151468.962487533,-2.14681,-1.24004,-0.0680199,0.145752,-0.254572,-1.21885,0,0.0666667,-0.36,0
 1713151469.112739048,-2.14681,-1.24004,-0.0680199,0.150442,-0.260092,-1.2689,0,0.0666667,-0.36,0
 1713151469.263008938,-2.14681,-1.24004,-0.0680199,0.147492,-0.27068,-1.31502,0,0.0666667,-0.36,0
 1713151469.413261328,-2.14681,-1.24004,-0.0680199,0.141368,-0.281655,-1.35293,0,0.177778,-0.36,0
 1713151469.563526260,-2.14681,-1.24004,-0.0680199,0.137913,-0.292114,-1.40554,0,0.133333,-0.36,0
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 1713151471.065992703,-2.14681,-1.24004,-0.0680199,0.0416174,-0.509368,-1.93725,0,0.2,-0.36,0
 1713151471.216244509,-2.14681,-1.24004,-0.0680199,0.0290848,-0.530135,-1.9754,0,0.2,-0.36,0
 1713151471.366491358,-2.14681,-1.24004,-0.0680199,0.0160041,-0.557135,-2.0275,0,0.2,-0.36,0
 1713151471.516736456,-2.14681,-1.24004,-0.0680199,0.0056196,-0.581613,-2.07782,0,0.177778,-0.36,0
 1713151471.666983013,-2.14681,-1.24004,-0.0680199,-0.015264,-0.602767,-2.12799,0,0.2,-0.36,0
 1713151471.817224903,-2.14681,-1.24004,-0.0680199,-0.0247838,-0.623188,-2.17819,0,0.2,-0.36,0
 1713151471.967503835,-2.14681,-1.24004,-0.0680199,-0.0435062,-0.644857,-2.21906,0,0.2,-0.36,0
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 1713151472.268042157,-2.14681,-1.24004,-0.0680199,-0.0619407,-0.671863,-2.26946,0,0.2,-0.36,0
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-18_09-04-50.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-18_09-04-50.txt
@ -1,574 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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 1713431177.060416924,-2.14681,-1.24004,-0.0680199,-2.15542,1.21281,-1.51541,0,0.2,0.0189474,0
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-18_09-09-54.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-18_09-09-54.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-18_09-16-52.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-18_09-16-52.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_04-22-20.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_04-22-20.txt
@ -1,344 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_04-23-55.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_04-23-55.txt
@ -1,136 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_04-35-00.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_04-35-00.txt
@ -1,911 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1713933301.690160159,1.54995,0.507101,3.06359,0.0023379,0.0135635,-0.000120795,0,0.2,0.284211,0
 1713933301.840548422,1.54995,0.507101,3.06359,0.0178082,0.012987,0.0295097,0,0.2,0.246316,0
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 1713933308.905204466,1.54995,0.507101,3.06359,1.27977,0.415748,0.333706,0,0.133333,0.0568421,0
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 1713933309.205876913,1.54995,0.507101,3.06359,1.33004,0.426782,0.331617,0,0.111111,0,0
 1713933309.356268091,1.54995,0.507101,3.06359,1.34615,0.437275,0.33172,0,0.111111,-0.0189474,0
 1713933309.506626326,1.54995,0.507101,3.06359,1.3667,0.447505,0.334499,0,0.0888889,0.0189474,0
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--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_07-59-21.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_07-59-21.txt
@ -1 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_08-13-10.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_08-13-10.txt
@ -1,600 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1713946391.407236786,1.54995,0.507101,3.06359,0.0262545,0.022878,0.00119626,0,0.2,0.246316,0
 1713946391.557602779,1.54995,0.507101,3.06359,0.0262425,0.0229408,0.00122676,0,0.2,0.246316,0
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 1713946497.088448311,0.655827,0.104241,3.22874,2.27621,0.144115,-0.0176304,0,0.0666667,-0.0189474,0.968747
 1713946497.238610861,0.655827,0.104241,3.22874,2.28018,0.144122,-0.0221841,0,0.0666667,-0.0189474,0.968747
 1713946497.388775160,0.655827,0.104241,3.22874,2.28967,0.144086,-0.0280344,0,0.0666667,-0.0189474,0.968747
 1713946497.538934501,0.655827,0.104241,3.22874,2.29938,0.144105,-0.0327888,0,0.0666667,-0.0189474,0.968747
 1713946497.689091509,0.655827,0.104241,3.22874,2.30875,0.144162,-0.0426724,0,0.0666667,-0.0947368,0.968747
 1713946497.839246475,0.655827,0.104241,3.22874,2.31838,0.144165,-0.0469313,0,0.0666667,-0.0947368,0.968747
 1713946497.989398232,0.655827,0.104241,3.22874,2.31798,0.144167,-0.0483282,0,0.0666667,-0.0189474,0.968747
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 1713946498.590014892,0.655827,0.104241,3.22874,2.35527,0.144531,-0.0724249,0,0.0666667,-0.0189474,0.968747
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 1713946499.791293138,0.655827,0.104241,3.22874,2.41995,0.134345,-0.103289,0,0.0666667,-0.0568421,0.968747
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 1713946500.692251830,0.655827,0.104241,3.22874,2.46628,0.132899,-0.109428,0,0.0666667,-0.0568421,0.968747
 1713946500.842410883,0.655827,0.104241,3.22874,2.46601,0.132829,-0.103343,0,0.0666667,0.0189474,0.968747
 1713946500.992568186,0.655827,0.104241,3.22874,2.47517,0.132528,-0.101007,0,0.0666667,0.0568421,0.968747
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 1713946501.292891253,0.655827,0.104241,3.22874,2.49381,0.131915,-0.0962389,0,0.0666667,0.0189474,0.968747
 1713946501.443048849,0.655827,0.104241,3.22874,2.50355,0.131768,-0.0941491,0,0.0666667,0.0189474,0.968747
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--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_08-20-19.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_08-20-19.txt
@ -1,686 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1713946819.656942650,1.04912,-0.815237,3.41718,0.0424549,0.0926322,-0.0150856,0,0.177778,-0.36,0
 1713946819.807285754,1.04912,-0.815237,3.41718,0.0459409,0.0927565,-0.0161475,0,0.177778,-0.36,0
 1713946819.957592689,1.04912,-0.815237,3.41718,0.0623578,0.0931879,-0.031589,0,0.2,-0.36,0
 1713946820.107878333,1.04912,-0.815237,3.41718,0.0822489,0.093921,-0.0542376,0,0.2,-0.36,0
 1713946820.258186436,1.04912,-0.815237,3.41718,0.102204,0.094987,-0.104978,0,0.2,-0.36,0
 1713946820.408480538,1.04912,-0.815237,3.41718,0.122089,0.0955913,-0.138345,0,0.177778,-0.36,0
 1713946820.558779891,1.04912,-0.815237,3.41718,0.15234,0.0865298,-0.205654,0,0.2,-0.36,0
 1713946820.709062034,1.04912,-0.815237,3.41718,0.172375,0.0869695,-0.239109,0,0.2,-0.36,0
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 1713946821.009722576,1.04912,-0.815237,3.41718,0.213244,0.0682559,-0.318105,0,0.2,-0.36,0
 1713946821.160023971,1.04912,-0.815237,3.41718,0.243533,0.0594152,-0.376761,0,0.2,-0.322105,0
 1713946821.310310198,1.04912,-0.815237,3.41718,0.274114,0.0508073,-0.429495,0,0.2,-0.322105,0
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 1713946821.610903946,1.04912,-0.815237,3.41718,0.315876,0.023,-0.515743,0,0.2,-0.284211,0
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 1713946826.868508054,1.04912,-0.815237,3.41718,0.942434,-0.688753,-0.987203,0,0.0888889,0.0947368,0
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 1713946827.169110560,1.04912,-0.815237,3.41718,0.963867,-0.709153,-0.983756,0,0,-0.5,0
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 1713946956.513295278,-0.0991339,1.17536,3.02449,1.05611,1.08796,2.19558,0,0.0888889,0.36,1
 1713946956.663587126,-0.0991339,1.17536,3.02449,1.04617,1.09177,2.23519,0,0.0666667,0.36,1
 1713946956.813884515,-0.0991339,1.17536,3.02449,1.03917,1.10509,2.2734,0,0.0666667,0.36,1
 1713946956.964208156,-0.0991339,1.17536,3.02449,1.02918,1.10875,2.33585,0,0.155556,0.36,1
 1713946957.114483087,-0.0991339,1.17536,3.02449,1.02201,1.12216,2.38611,0,0.155556,0.36,1
 1713946957.264792145,-0.0991339,1.17536,3.02449,1.0121,1.12594,2.42374,0,0.155556,0.36,1
 1713946957.415081660,-0.0991339,1.17536,3.02449,1.00505,1.13925,2.46745,0,0.177778,0.36,1
 1713946957.565494263,-0.0991339,1.17536,3.02449,0.979423,1.15907,2.54114,0,0.177778,0.36,1
 1713946957.715767445,-0.0991339,1.17536,3.02449,0.968874,1.1629,2.57756,0,0.177778,0.36,1
 1713946957.866067752,-0.0991339,1.17536,3.02449,0.936792,1.1848,2.6466,0,0.2,0.36,1
 1713946958.016355809,-0.0991339,1.17536,3.02449,0.923657,1.18957,2.68058,0,0.2,0.322105,1
 1713946958.166649699,-0.0991339,1.17536,3.02449,0.899253,1.19821,2.73401,0,0.2,0.284211,1
 1713946959.029290542,-0.399134,1.17536,3.02449,0.748356,1.24087,2.97654,0,0.2,0.170526,1
 1713946959.179574808,-0.399134,1.17536,3.02449,0.717846,1.25162,3.01063,0,0.2,0.132632,1
 1713946959.329867824,-0.399134,1.17536,3.02449,0.704386,1.24587,3.02822,0,0.2,0.132632,1
 1713946959.480159673,-0.399134,1.17536,3.02449,0.675827,1.25586,3.056,0,0.2,0.0947368,1
 1713946959.630439272,-0.399134,1.17536,3.02449,0.633927,1.25993,3.08826,0,0.2,0.0947368,1
 1713946959.780781874,-0.399134,1.17536,3.02449,0.605825,1.25932,3.10726,0,0.2,0.0568421,1
 1713946959.931124767,-0.399134,1.17536,3.02449,0.58288,1.26021,3.1223,0,0.2,0.0568421,1
 1713946960.685274457,-0.699134,1.17536,3.02449,0.44932,1.26096,-3.11131,0,0.2,-0.0568421,1
 1713946960.835587891,-0.699134,1.17536,3.02449,0.41724,1.26137,-3.11029,0,0.2,-0.0568421,1
 1713946960.985886741,-0.699134,1.17536,3.02449,0.384825,1.26211,-3.11064,0,0.2,0,1
 1713946961.136170425,-0.699134,1.17536,3.02449,0.371716,1.25601,-3.1125,0,0.2,0,1
 1713946961.286470442,-0.699134,1.17536,3.02449,0.32975,1.25962,-3.11301,0,0.2,0,1
 1713946961.436818587,-0.699134,1.17536,3.02449,0.301473,1.25856,-3.11298,0,0.2,-0.0189474,1
 1713946961.587115979,-0.699134,1.17536,3.02449,0.265341,1.26025,-3.11301,0,0.2,0,1
 1713946962.408349905,-0.941468,1.2296,3.61249,0.123559,1.25598,-3.11691,0,0.2,-0.0189474,0.625666
 1713946962.558507001,-0.941468,1.2296,3.61249,0.0914854,1.25629,-3.11975,0,0.2,-0.0568421,0.625666
 1713946962.708681889,-0.941468,1.2296,3.61249,0.0521151,1.25318,-3.12478,0,0.2,-0.0568421,0.625666
 1713946962.858842193,-0.941468,1.2296,3.61249,0.0272653,1.25692,-3.12766,0,0.2,-0.0189474,0.625666
 1713946963.008996372,-0.941468,1.2296,3.61249,-0.00485522,1.25731,-3.13298,0,0.2,-0.0189474,0.625666
 1713946963.159221721,-0.941468,1.2296,3.61249,-0.0272789,1.25439,-3.13602,0,0.2,0.0189474,0.625666
 1713946963.309541574,-0.941468,1.2296,3.61249,-0.0595103,1.25467,-3.13864,0,0.2,0.0189474,0.625666
 1713946963.459842759,-0.941468,1.2296,3.61249,-0.0819969,1.25166,-3.13946,0,0.2,0.0189474,0.625666
 1713946963.610195863,-0.941468,1.2296,3.61249,-0.123674,1.25491,3.13981,0,0.2,0.0189474,0.625666
 1713946963.760489464,-0.941468,1.2296,3.61249,-0.133331,1.25826,3.13926,0,0.2,0.0189474,0.625666
 1713946963.910757107,-0.941468,1.2296,3.61249,-0.165534,1.2588,3.13647,0,0.2,0.0189474,0.625666
 1713946964.060914786,-0.941468,1.2296,3.61249,-0.20285,1.26102,3.13447,0,0.2,0.0189474,0.625666
 1713946964.211072175,-0.941468,1.2296,3.61249,-0.229303,1.25943,3.1328,0,0.2,0.0189474,0.625666
 1713946964.361226063,-0.941468,1.2296,3.61249,-0.251764,1.25652,3.13259,0,0.2,0.0189474,0.625666
 1713946964.511384035,-0.941468,1.2296,3.61249,-0.283883,1.25675,3.13382,0,0.2,0.0189474,0.625666
 1713946964.661537340,-0.941468,1.2296,3.61249,-0.315714,1.25698,3.13584,0,0.2,0.0189474,0.625666
 1713946964.811695603,-0.941468,1.2296,3.61249,-0.347615,1.25699,3.13613,0,0.2,0.0189474,0.625666
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_08-51-10.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_08-51-10.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_10-21-17.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_10-21-17.txt
@ -1,81 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1713954078.340228799,-2.04681,-1.29004,-0.0680199,0.00485747,0.304249,-0.00423955,0,0.0666667,-0.322105,0
 1713954078.490547149,-2.04681,-1.29004,-0.0680199,0.00486676,0.304831,-0.00431608,0,0.0666667,-0.322105,0
 1713954078.640843914,-2.04681,-1.29004,-0.0680199,0.00487139,0.305121,-0.00431095,0,0.0666667,-0.322105,0
 1713954078.791115884,-2.04681,-1.29004,-0.0680199,0.00488061,0.305698,-0.004308,0,0.0666667,-0.322105,0
 1713954078.941389312,-2.04681,-1.29004,-0.0680199,0.00488519,0.305986,-0.00446425,0,0.0666667,-0.322105,0
 1713954079.091655821,-2.04681,-1.29004,-0.0680199,0.00489433,0.306558,-0.00442839,0,0.0666667,-0.322105,0
 1713954079.241947042,-2.04681,-1.29004,-0.0680199,0.00489888,0.306843,-0.00443124,0,0.0666667,-0.322105,0
 1713954079.392225137,-2.04681,-1.29004,-0.0680199,0.00490793,0.30741,-0.00450123,0,0.0666667,-0.322105,0
 1713954079.542475228,-2.04681,-1.29004,-0.0680199,0.00491244,0.307692,-0.00456857,0,0.0666667,-0.322105,0
 1713954079.692802329,-2.04681,-1.29004,-0.0680199,0.00492142,0.308254,-0.00460717,0,0.0666667,-0.322105,0
 1713954079.843136722,-2.04681,-1.29004,-0.0680199,0.00492589,0.308534,-0.00463323,0,0.0666667,-0.322105,0
 1713954079.993458864,-2.04681,-1.29004,-0.0680199,0.00493479,0.309092,-0.00477379,0,0.0666667,-0.322105,0
 1713954080.143721169,-2.04681,-1.29004,-0.0680199,0.00493922,0.309369,-0.00475186,0,0.0666667,-0.322105,0
 1713954080.294047230,-2.04681,-1.29004,-0.0680199,0.00494804,0.309922,-0.00475799,0,0.0666667,-0.322105,0
 1713954080.444362790,-2.04681,-1.29004,-0.0680199,0.00495243,0.310197,-0.00480414,0,0.0666667,-0.322105,0
 1713954080.594649179,-2.04681,-1.29004,-0.0680199,0.00496117,0.310745,-0.00482262,0,0.0666667,-0.322105,0
 1713954080.744913982,-2.04681,-1.29004,-0.0680199,0.00496553,0.311017,-0.00488624,0,0.0666667,-0.322105,0
 1713954080.895174117,-2.04681,-1.29004,-0.0680199,0.0049742,0.31156,-0.00497344,0,0.0666667,-0.322105,0
 1713954081.045448898,-2.04681,-1.29004,-0.0680199,0.00497851,0.31183,-0.00496111,0,0.0666667,-0.322105,0
 1713954081.195733509,-2.04681,-1.29004,-0.0680199,0.0049871,0.312369,-0.00491368,0,0.0666667,-0.322105,0
 1713954081.346037666,-2.04681,-1.29004,-0.0680199,0.00499138,0.312637,-0.00487592,0,0.0666667,-0.322105,0
 1713954081.496319652,-2.04681,-1.29004,-0.0680199,0.0049999,0.31317,-0.00499003,0,0.0666667,-0.322105,0
 1713954081.646637811,-2.04681,-1.29004,-0.0680199,0.00500414,0.313436,-0.0049969,0,0.0666667,-0.322105,0
 1713954081.796900252,-2.04681,-1.29004,-0.0680199,0.00501258,0.313964,-0.00499867,0,0.0666667,-0.322105,0
 1713954081.947171153,-2.04681,-1.29004,-0.0680199,0.00501678,0.314228,-0.0050309,0,0.0666667,-0.322105,0
 1713954082.097459450,-2.04681,-1.29004,-0.0680199,0.00502515,0.314752,-0.00498464,0,0.0666667,-0.322105,0
 1713954082.247725512,-2.04681,-1.29004,-0.0680199,0.00502932,0.315013,-0.00499619,0,0.0666667,-0.322105,0
 1713954082.398009077,-2.04681,-1.29004,-0.0680199,0.00503761,0.315532,-0.00502065,0,0.0666667,-0.322105,0
 1713954082.548283890,-2.04681,-1.29004,-0.0680199,0.00504174,0.315791,-0.00503405,0,0.0666667,-0.322105,0
 1713954082.698551703,-2.04681,-1.29004,-0.0680199,0.00504996,0.316306,-0.00503128,0,0.0666667,-0.322105,0
 1713954082.848792677,-2.04681,-1.29004,-0.0680199,0.00505405,0.316562,-0.00501721,0,0.0666667,-0.322105,0
 1713954082.999075075,-2.04681,-1.29004,-0.0680199,0.0050622,0.317073,-0.00501021,0,0.0666667,-0.322105,0
 1713954083.149387737,-2.04681,-1.29004,-0.0680199,0.00506626,0.317327,-0.00499491,0,0.0666667,-0.322105,0
 1713954083.299665453,-2.04681,-1.29004,-0.0680199,0.00507434,0.317833,-0.00505574,0,0.0666667,-0.322105,0
 1713954083.449920123,-2.04681,-1.29004,-0.0680199,0.00507836,0.318084,-0.00502273,0,0.0666667,-0.322105,0
 1713954083.600206006,-2.04681,-1.29004,-0.0680199,0.00508636,0.318586,-0.005107,0,0.0666667,-0.322105,0
 1713954083.750464177,-2.04681,-1.29004,-0.0680199,0.00509035,0.318835,-0.00512261,0,0.0666667,-0.322105,0
 1713954083.900749769,-2.04681,-1.29004,-0.0680199,0.00509828,0.319332,-0.0051869,0,0.0666667,-0.322105,0
 1713954084.051011457,-2.04681,-1.29004,-0.0680199,0.00510223,0.31958,-0.00520856,0,0.0666667,-0.322105,0
 1713954084.201319954,-2.04681,-1.29004,-0.0680199,0.0051101,0.320072,-0.00522532,0,0.0666667,-0.322105,0
 1713954084.351607155,-2.04681,-1.29004,-0.0680199,0.00511401,0.320318,-0.00525175,0,0.0666667,-0.322105,0
 1713954084.501880353,-2.04681,-1.29004,-0.0680199,0.00512181,0.320806,-0.00516021,0,0.0666667,-0.322105,0
 1713954084.652456652,-2.04681,-1.29004,-0.0680199,0.00512569,0.321049,-0.00514285,0,0.0666667,-0.322105,0
 1713954084.802782653,-2.04681,-1.29004,-0.0680199,0.00513341,0.321533,-0.00517441,0,0.0666667,-0.322105,0
 1713954084.953091441,-2.04681,-1.29004,-0.0680199,0.00513726,0.321774,-0.00520692,0,0.0666667,-0.322105,0
 1713954085.103416292,-2.04681,-1.29004,-0.0680199,0.00514491,0.322253,-0.00530954,0,0.0666667,-0.322105,0
 1713954085.254731282,-2.04681,-1.29004,-0.0680199,0.00514872,0.322492,-0.00530132,0,0.0666667,-0.322105,0
 1713954085.405028433,-2.04681,-1.29004,-0.0680199,0.00515631,0.322967,-0.00531596,0,0.0666667,-0.322105,0
 1713954085.555295244,-2.04681,-1.29004,-0.0680199,0.00516009,0.323204,-0.0053408,0,0.0666667,-0.322105,0
 1713954085.705567306,-2.04681,-1.29004,-0.0680199,0.00516761,0.323675,-0.00536123,0,0.0666667,-0.322105,0
 1713954085.855827407,-2.04681,-1.29004,-0.0680199,0.00517135,0.323909,-0.00529915,0,0.0666667,-0.36,0
 1713954086.006092825,-2.04681,-1.29004,-0.0680199,0.00517881,0.324376,-0.00532909,0,0.0666667,-0.36,0
 1713954086.156359848,-2.04681,-1.29004,-0.0680199,0.00518252,0.324608,-0.00538317,0,0.0666667,-0.36,0
 1713954086.306621619,-2.04681,-1.29004,-0.0680199,0.0051899,0.325071,-0.00539605,0,0.0666667,-0.36,0
 1713954086.456881057,-2.04681,-1.29004,-0.0680199,0.00519358,0.325301,-0.00550725,0,0.0666667,-0.36,0
 1713954086.607153914,-2.04681,-1.29004,-0.0680199,0.0052009,0.32576,-0.00549777,0,0.0666667,-0.36,0
 1713954086.757414226,-2.04681,-1.29004,-0.0680199,0.00520454,0.325988,-0.00551534,0,0.0666667,-0.36,0
 1713954086.907691751,-2.04681,-1.29004,-0.0680199,0.0052118,0.326443,-0.00546988,0,0.0666667,-0.322105,0
 1713954087.057961966,-2.04681,-1.29004,-0.0680199,0.00521541,0.326669,-0.00549018,0,0.0666667,-0.322105,0
 1713954087.208353666,-2.04681,-1.29004,-0.0680199,0.0052226,0.327119,-0.00552093,0,0.0666667,-0.322105,0
 1713954087.358671558,-2.04681,-1.29004,-0.0680199,0.00522618,0.327343,-0.00547881,0,0.0666667,-0.322105,0
 1713954087.508901053,-2.04681,-1.29004,-0.0680199,0.0052333,0.32779,-0.00548138,0,0.0666667,-0.322105,0
 1713954087.659123256,-2.04681,-1.29004,-0.0680199,0.00523685,0.328012,-0.00549163,0,0.0666667,-0.322105,0
 1713954087.809449607,-2.04681,-1.29004,-0.0680199,0.00524391,0.328454,-0.0055333,0,0.0666667,-0.322105,0
 1713954087.959743868,-2.04681,-1.29004,-0.0680199,0.00524743,0.328674,-0.00556091,0,0.0666667,-0.322105,0
 1713954088.110083513,-2.04681,-1.29004,-0.0680199,0.00525442,0.329112,-0.00555069,0,0.0666667,-0.322105,0
 1713954088.260428546,-2.04681,-1.29004,-0.0680199,0.00525791,0.329331,-0.00549164,0,0.0666667,-0.322105,0
 1713954088.410703269,-2.04681,-1.29004,-0.0680199,0.00526484,0.329765,-0.00555674,0,0.0666667,-0.322105,0
 1713954088.560962823,-2.04681,-1.29004,-0.0680199,0.00526829,0.329981,-0.00550646,0,0.0666667,-0.322105,0
 1713954088.711254467,-2.04681,-1.29004,-0.0680199,0.00527517,0.330412,-0.00545674,0,0.0666667,-0.322105,0
 1713954088.861516354,-2.04681,-1.29004,-0.0680199,0.00527859,0.330626,-0.0054953,0,0.0666667,-0.322105,0
 1713954089.011778609,-2.04681,-1.29004,-0.0680199,0.0052854,0.331052,-0.00548048,0,0.0666667,-0.36,0
 1713954089.162023493,-2.04681,-1.29004,-0.0680199,0.00528879,0.331265,-0.00547342,0,0.0666667,-0.36,0
 1713954089.312286172,-2.04681,-1.29004,-0.0680199,0.00529554,0.331687,-0.00558902,0,0.0666667,-0.36,0
 1713954089.462543601,-2.04681,-1.29004,-0.0680199,0.0052989,0.331898,-0.00553569,0,0.0666667,-0.36,0
 1713954089.612902847,-2.04681,-1.29004,-0.0680199,0.00530558,0.332317,-0.00557096,0,0.0666667,-0.36,0
 1713954089.763235252,-2.04681,-1.29004,-0.0680199,0.00530891,0.332525,-0.00555146,0,0.0666667,-0.36,0
 1713954089.913457964,-2.04681,-1.29004,-0.0680199,0.00531554,0.33294,-0.00557357,0,0.0666667,-0.36,0
 1713954090.063868782,-2.04681,-1.29004,-0.0680199,0.00531884,0.333147,-0.00564227,0,0.0666667,-0.36,0
 1713954090.214069443,-2.04681,-1.29004,-0.0680199,0.00532541,0.333558,-0.00566393,0,0.0666667,-0.36,0
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_12-12-17.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-24_12-12-17.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_08-55-25.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_08-55-25.txt
@ -1,625 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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 1714121897.532702006,-1.50087,-0.175363,-0.117107,-1.9001,-0.332163,0.586082,0,0.2,-0.284211,1
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-03-35.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-03-35.txt
@ -1,264 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1714122215.922715808,-2.09681,-1.59004,-0.0680199,0.0209809,0.00769389,-0.00710024,0,0.0666667,-0.36,0
 1714122216.073097674,-2.09681,-1.59004,-0.0680199,0.0209685,0.00769466,-0.0339067,0,0.0666667,-0.36,0
 1714122216.223413916,-2.09681,-1.59004,-0.0680199,0.0208904,0.00795017,-0.0619457,0,0.0666667,-0.36,0
 1714122216.373707407,-2.09681,-1.59004,-0.0680199,0.0283544,0.00799144,-0.095298,0,0.0666667,-0.322105,0
 1714122216.524047273,-2.09681,-1.59004,-0.0680199,0.0309518,0.00802755,-0.128322,0,0.0666667,-0.322105,0
 1714122216.674350098,-2.09681,-1.59004,-0.0680199,0.0409998,0.00789754,-0.157406,0,0.0666667,-0.36,0
 1714122216.824653505,-2.09681,-1.59004,-0.0680199,0.0512464,0.00771728,-0.196358,0,0.0666667,-0.36,0
 1714122216.974947288,-2.09681,-1.59004,-0.0680199,0.0613353,0.00771143,-0.233825,0,0.0666667,-0.322105,0
 1714122217.125278696,-2.09681,-1.59004,-0.0680199,0.0617901,0.00749138,-0.273085,0,0.0666667,-0.322105,0
 1714122217.275566937,-2.09681,-1.59004,-0.0680199,0.0720776,-0.00234008,-0.315468,0,0.0666667,-0.284211,0
 1714122217.425880846,-2.09681,-1.59004,-0.0680199,0.0826064,-0.0024692,-0.362576,0,0.0666667,-0.36,0
 1714122217.576291004,-2.09681,-1.59004,-0.0680199,0.0929273,-0.00246354,-0.403191,0,0.0666667,-0.36,0
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 1714122217.877120947,-2.09681,-1.59004,-0.0680199,0.103846,-0.0118684,-0.475537,0,0.0666667,-0.36,0
 1714122218.027542481,-2.09681,-1.59004,-0.0680199,0.114316,-0.0110592,-0.542321,0,0.0666667,-0.36,0
 1714122218.177962848,-2.09681,-1.59004,-0.0680199,0.124633,-0.0207124,-0.613249,0,0.0666667,-0.36,0
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 1714122222.387243450,-2.09681,-1.59004,-0.0680199,0.159238,-0.383566,-2.0271,0,0.2,-0.36,0
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 1714122222.687924934,-2.09681,-1.59004,-0.0680199,0.130366,-0.429475,-2.12341,0,0.2,-0.36,0
 1714122222.838255176,-2.09681,-1.59004,-0.0680199,0.110733,-0.453783,-2.17606,0,0.2,-0.36,0
 1714122222.988529417,-2.09681,-1.59004,-0.0680199,0.101053,-0.473682,-2.22393,0,0.2,-0.36,0
 1714122223.138842743,-2.09681,-1.59004,-0.0680199,0.0811568,-0.493563,-2.27229,0,0.2,-0.36,0
 1714122223.289152860,-2.09681,-1.59004,-0.0680199,0.061606,-0.521447,-2.32928,0,0.2,-0.322105,0
 1714122223.439466185,-2.09681,-1.59004,-0.0680199,0.0414555,-0.533343,-2.36279,0,0.2,-0.322105,0
 1714122223.589769302,-2.09681,-1.59004,-0.0680199,0.03163,-0.543418,-2.39792,0,0.2,-0.246316,0
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 1714122225.092980139,-2.09681,-1.59004,-0.0680199,-0.200742,-0.698937,-2.66756,0,0.2,-0.0568421,0
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 1714122225.393609706,-2.09681,-1.59004,-0.0680199,-0.251017,-0.720343,-2.68552,0,0.2,-0.0189474,0
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 1714122226.145360668,-2.09681,-1.59004,-0.0680199,-0.37724,-0.783574,-2.71361,0,0.2,-0.0189474,0
 1714122226.295813703,-2.09681,-1.59004,-0.0680199,-0.401537,-0.794052,-2.71644,0,0.2,-0.0189474,0
 1714122226.446244279,-2.09681,-1.59004,-0.0680199,-0.421204,-0.804875,-2.72063,0,0.2,-0.0189474,0
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--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-07-18.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-07-18.txt
@ -1,176 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1714122438.948955647,-2.09681,-1.59004,-0.0680199,0.104581,-0.0205526,0.0414572,0,0.0666667,-0.36,0
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 1714122465.130199299,-2.09681,-1.59004,-0.0680199,-2.02466,-1.5535,-0.305077,0,0,0,0
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-10-25.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-10-25.txt
@ -1,622 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1714122626.351691980,-2.09681,-1.59004,-0.0680199,0.031401,-0.014173,-0.00814656,0,0.0666667,-0.208421,0
 1714122626.502129873,-2.09681,-1.59004,-0.0680199,0.0317256,-0.0142549,-0.0127827,0,0.0666667,-0.36,0
 1714122626.652327432,-2.09681,-1.59004,-0.0680199,0.031839,-0.0142824,-0.0425532,0,0.0666667,-0.36,0
 1714122626.802498740,-2.09681,-1.59004,-0.0680199,0.031953,-0.0143606,-0.0611886,0,0.0666667,-0.36,0
 1714122626.952670339,-2.09681,-1.59004,-0.0680199,0.042296,-0.0143163,-0.0903344,0,0.0666667,-0.36,0
 1714122627.102843106,-2.09681,-1.59004,-0.0680199,0.0422897,-0.0142796,-0.123869,0,0.0666667,-0.36,0
 1714122627.253023164,-2.09681,-1.59004,-0.0680199,0.0525599,-0.0142405,-0.169631,0,0.0666667,-0.36,0
 1714122627.403193597,-2.09681,-1.59004,-0.0680199,0.062779,-0.0142145,-0.219641,0,0.0666667,-0.36,0
 1714122627.553381238,-2.09681,-1.59004,-0.0680199,0.0728791,-0.0141564,-0.266617,0,0.0666667,-0.36,0
 1714122627.703572088,-2.09681,-1.59004,-0.0680199,0.0832103,-0.0142163,-0.305506,0,0.0666667,-0.322105,0
 1714122627.853760605,-2.09681,-1.59004,-0.0680199,0.0933772,-0.0243241,-0.340149,0,0.0666667,-0.322105,0
 1714122628.003926079,-2.09681,-1.59004,-0.0680199,0.103772,-0.0244936,-0.395818,0,0.0666667,-0.36,0
 1714122628.154104096,-2.09681,-1.59004,-0.0680199,0.111801,-0.0245226,-0.436183,0,0.0666667,-0.36,0
 1714122628.304278612,-2.09681,-1.59004,-0.0680199,0.114131,-0.0343216,-0.480925,0,0.0666667,-0.36,0
 1714122628.454451962,-2.09681,-1.59004,-0.0680199,0.12419,-0.0341631,-0.512241,0,0.0666667,-0.36,0
 1714122628.604628520,-2.09681,-1.59004,-0.0680199,0.134297,-0.0436329,-0.573105,0,0.0666667,-0.36,0
 1714122628.754828995,-2.09681,-1.59004,-0.0680199,0.144335,-0.0433576,-0.607759,0,0.0666667,-0.322105,0
 1714122628.904994470,-2.09681,-1.59004,-0.0680199,0.14437,-0.0526126,-0.676347,0,0.0666667,-0.36,0
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 1714122629.205392795,-2.09681,-1.59004,-0.0680199,0.164489,-0.0616948,-0.782877,0,0.0666667,-0.36,0
 1714122629.355564686,-2.09681,-1.59004,-0.0680199,0.164628,-0.0610894,-0.818679,0,0.0666667,-0.36,0
 1714122629.505738619,-2.09681,-1.59004,-0.0680199,0.174745,-0.0700689,-0.865511,0,0.0666667,-0.36,0
 1714122629.655932094,-2.09681,-1.59004,-0.0680199,0.174827,-0.0794047,-0.921738,0,0.0666667,-0.36,0
 1714122629.806290070,-2.09681,-1.59004,-0.0680199,0.185036,-0.078814,-0.959802,0,0.0666667,-0.36,0
 1714122629.956624713,-2.09681,-1.59004,-0.0680199,0.185175,-0.0873413,-1.02854,0,0.0666667,-0.36,0
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 1714122630.708692555,-2.09681,-1.59004,-0.0680199,0.206797,-0.122966,-1.2823,0,0.177778,-0.36,0
 1714122630.859037406,-2.09681,-1.59004,-0.0680199,0.206849,-0.132728,-1.32797,0,0.155556,-0.36,0
 1714122631.009376716,-2.09681,-1.59004,-0.0680199,0.217253,-0.141871,-1.38134,0,0.2,-0.36,0
 1714122631.159730609,-2.09681,-1.59004,-0.0680199,0.217354,-0.161247,-1.43762,0,0.177778,-0.36,0
 1714122631.309928167,-2.09681,-1.59004,-0.0680199,0.217834,-0.169852,-1.48627,0,0.177778,-0.36,0
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 1714122632.512133098,-2.09681,-1.59004,-0.0680199,0.20007,-0.341992,-1.87925,0,0.2,-0.36,0
 1714122632.662495449,-2.09681,-1.59004,-0.0680199,0.190383,-0.361589,-1.92229,0,0.2,-0.36,0
 1714122632.812867134,-2.09681,-1.59004,-0.0680199,0.180981,-0.391061,-1.98113,0,0.2,-0.36,0
 1714122632.963085401,-2.09681,-1.59004,-0.0680199,0.171561,-0.42107,-2.02583,0,0.2,-0.36,0
 1714122633.113270126,-2.09681,-1.59004,-0.0680199,0.161662,-0.431099,-2.06609,0,0.177778,-0.36,0
 1714122633.263446684,-2.09681,-1.59004,-0.0680199,0.142004,-0.461082,-2.12982,0,0.2,-0.36,0
 1714122633.413650368,-2.09681,-1.59004,-0.0680199,0.126153,-0.486882,-2.17515,0,0.2,-0.36,0
 1714122633.564013302,-2.09681,-1.59004,-0.0680199,0.112161,-0.500762,-2.21579,0,0.2,-0.36,0
 1714122633.714201236,-2.09681,-1.59004,-0.0680199,0.102079,-0.520403,-2.25777,0,0.2,-0.36,0
 1714122633.864374002,-2.09681,-1.59004,-0.0680199,0.0723011,-0.550494,-2.31816,0,0.2,-0.36,0
 1714122634.014539186,-2.09681,-1.59004,-0.0680199,0.0620551,-0.559871,-2.35029,0,0.2,-0.246316,0
 1714122634.164711077,-2.09681,-1.59004,-0.0680199,0.0422933,-0.579887,-2.40135,0,0.2,-0.208421,0
 1714122634.314886761,-2.09681,-1.59004,-0.0680199,0.022522,-0.599973,-2.45825,0,0.2,-0.208421,0
 1714122634.465066236,-2.09681,-1.59004,-0.0680199,0.00520383,-0.61763,-2.49125,0,0.2,-0.170526,0
 1714122634.615256794,-2.09681,-1.59004,-0.0680199,-0.0174384,-0.630186,-2.52723,0,0.2,-0.132632,0
 1714122634.765443853,-2.09681,-1.59004,-0.0680199,-0.0472376,-0.65055,-2.56088,0,0.2,-0.132632,0
 1714122634.915620703,-2.09681,-1.59004,-0.0680199,-0.0672815,-0.660589,-2.58529,0,0.2,-0.132632,0
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 1714122635.215962736,-2.09681,-1.59004,-0.0680199,-0.116922,-0.690781,-2.63286,0,0.2,-0.0189474,0
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--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-15-25.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-15-25.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-27-50.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-26_09-27-50.txt
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-28_08-54-51.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-28_08-54-51.txt
@ -1,189 +0,0 @@
 time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
 1714294492.742365722,-2.09681,-1.59004,-0.0680199,-0.632859,0.00443821,-0.0059326,0,0.0666667,-0.36,0
 1714294492.892669738,-2.09681,-1.59004,-0.0680199,-0.633907,0.00428672,-0.0130709,0,0.0666667,-0.36,0
 1714294493.042937294,-2.09681,-1.59004,-0.0680199,-0.635945,0.00411284,-0.0437145,0,0.0666667,-0.36,0
 1714294493.193208059,-2.09681,-1.59004,-0.0680199,-0.636968,0.00402474,-0.0663737,0,0.0666667,-0.284211,0
 1714294493.343480866,-2.09681,-1.59004,-0.0680199,-0.629038,0.00410646,-0.116341,0,0.0666667,-0.322105,0
 1714294493.493738798,-2.09681,-1.59004,-0.0680199,-0.62005,0.0039987,-0.152549,0,0.0666667,-0.284211,0
 1714294493.644001105,-2.09681,-1.59004,-0.0680199,-0.612029,0.00323719,-0.195247,0,0.0666667,-0.284211,0
 1714294493.794237745,-2.09681,-1.59004,-0.0680199,-0.612964,0.00289243,-0.229,0,0.0666667,-0.322105,0
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 1714294494.094770817,-2.09681,-1.59004,-0.0680199,-0.595861,0.0018335,-0.288696,0,0.0666667,-0.36,0
 1714294494.245036915,-2.09681,-1.59004,-0.0680199,-0.587719,-0.00896161,-0.354172,0,0.0666667,-0.322105,0
 1714294494.395298347,-2.09681,-1.59004,-0.0680199,-0.58978,-0.00941434,-0.386376,0,0.0666667,-0.322105,0
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 1714294494.695815085,-2.09681,-1.59004,-0.0680199,-0.571715,-0.0191399,-0.471864,0,0.0666667,-0.36,0
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--- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-28_09-11-21.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-28_09-11-21.txt
--- a/Show More
+++ b/Show More
		`@ -1 +0,0 @@`
			`time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez`