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#!/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()

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#!/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

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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)

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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)

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@ -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)

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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)

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@ -36,7 +36,6 @@ add_message_files(
RoomSequence.msg RoomSequence.msg
dis_info.msg dis_info.msg
dis_info_array.msg dis_info_array.msg
avoid.msg
) )
## Generate services in the 'srv' folder ## Generate services in the 'srv' folder

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@ -1,6 +0,0 @@
Header header
float32 ultrasonic_range
bool l1
bool l2
bool r1
bool r2

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@ -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
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@ -1,364 +0,0 @@
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@ -1,166 +0,0 @@
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@ -1,911 +0,0 @@
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View File

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@ -1,489 +0,0 @@
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@ -1 +0,0 @@
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez

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@ -1 +0,0 @@
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez

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@ -82,10 +82,6 @@
#include <vector> #include <vector>
#include <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
#include <fstream>
#include <ctime>
#include <mutex>
// services and actions // services and actions
#include <ipa_building_msgs/RoomExplorationAction.h> #include <ipa_building_msgs/RoomExplorationAction.h>
#include <cob_map_accessibility_analysis/CheckPerimeterAccessibility.h> #include <cob_map_accessibility_analysis/CheckPerimeterAccessibility.h>
@ -118,12 +114,10 @@
#include <actionlib_msgs/GoalID.h> #include <actionlib_msgs/GoalID.h>
#include "ipa_building_msgs/dis_info.h" #include "ipa_building_msgs/dis_info.h"
#include "ipa_building_msgs/dis_info_array.h" #include "ipa_building_msgs/dis_info_array.h"
#include "ipa_building_msgs/avoid.h"
#define PI 3.14159265359 #define PI 3.14159265359
std::mutex log_mutex;
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient; typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
@ -294,64 +288,6 @@ protected:
mat.at<int8_t>(y,x) = map.data[y*mat.cols+x]; mat.at<int8_t>(y,x) = map.data[y*mat.cols+x];
} }
void fileinit(const std::string& directory)
{
std::time_t now = std::time(nullptr);
std::tm local_time = *std::localtime(&now);
// 根据当前时间构建文件名
std::stringstream filename_stream;
filename_stream << directory << "/data_" << std::put_time(&local_time, "%Y-%m-%d_%H-%M-%S") << ".txt";
std::string filename = filename_stream.str();
outfile.open(filename);
if (outfile.is_open()) {
std::cout << "start saving data" << std::endl;
outfile << "time,"\
<< "goalx,goaly,goaltheta,"\
<< "currentx,currenty,currenttheta,"\
<< "flag,"\
<< "linearx,anglez"\
<< "\n";
} else {
std::cerr << "Unable to open file " << filename << std::endl;
}
}
void loginit(const std::string& directory)
{
std::time_t now = std::time(nullptr);
std::tm local_time = *std::localtime(&now);
// 根据当前时间构建文件名
std::stringstream filename_stream;
filename_stream << directory << "/log_" << std::put_time(&local_time, "%Y-%m-%d_%H-%M-%S") << ".txt";
std::string filename = filename_stream.str();
outlog.open(filename);
if (outlog.is_open()) {
std::cout << "start saving data" << std::endl;
} else {
std::cerr << "Unable to open file " << filename << std::endl;
}
}
void writetofile(const geometry_msgs::Pose2D& map_oriented_pose,const geometry_msgs::Pose2D& current_pose,const bool flag_,const geometry_msgs::Twist& cmd_vel_,const double eps)
{
ros::Time time=ros::Time::now();
outfile << time <<","\
<< map_oriented_pose.x << "," << map_oriented_pose.y << "," << map_oriented_pose.theta << ","\
<< current_pose.x << "," << current_pose.y << "," << current_pose.theta << ","\
<< flag_ << ","\
<< cmd_vel_.linear.x <<","<< cmd_vel_.angular.z<< ","\
<< eps <<"\n";
}
void writetolog(const std::string& string)
{
std::lock_guard<std::mutex> lock(log_mutex);
ros::Time time=ros::Time::now();
outlog <<"time:"<< time <<"---------"<< "string:" <<string <<"\n";
}
// !!Important!! // !!Important!!
// define the Nodehandle before the action server, or else the server won't start // define the Nodehandle before the action server, or else the server won't start
@ -361,18 +297,16 @@ protected:
dynamic_reconfigure::Server<ipa_room_exploration::RoomExplorationConfig> room_exploration_dynamic_reconfigure_server_; dynamic_reconfigure::Server<ipa_room_exploration::RoomExplorationConfig> room_exploration_dynamic_reconfigure_server_;
private: private:
void turn(int lr,int time);//rad/s ,0.1s void turn(int lr,int time);//rad/s ,0.1s
void gostraight(float v,int time);// 0.1s void gostraight(float v,int time);// 0.1s
void publishZeroVelocity();//Publishes a velocity command of zero to the base void publishZeroVelocity();//Publishes a velocity command of zero to the base
std::ofstream outfile,outlog;
bool flag_=0; bool flag_=0;
bool collid_left1_=0; bool flag_ultra_=0;
bool collid_right1_=0; bool flag_collid_=0;
bool collid_left2_=0;
bool collid_right2_=0;
public: public:
@ -383,7 +317,7 @@ public:
ros::Subscriber collid_sub_; ros::Subscriber collid_sub_;
void stereo_CB(const ipa_building_msgs::dis_info_array::ConstPtr& flag); void stereo_CB(const ipa_building_msgs::dis_info_array::ConstPtr& flag);
void ultrasonic_CB(const ipa_building_msgs::avoid::ConstPtr& ul_dis); void ultrasonic_CB(const std_msgs::String::ConstPtr& ul_dis);
void collid_CB(const std_msgs::String::ConstPtr& flag); void collid_CB(const std_msgs::String::ConstPtr& flag);
void cmd_CB(const geometry_msgs::Twist::ConstPtr& cmd_vel); void cmd_CB(const geometry_msgs::Twist::ConstPtr& cmd_vel);

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@ -7,7 +7,6 @@
<remap from="/room_exploration/room_exploration_server/cmd_vel" to="/cmd_vel"/> <remap from="/room_exploration/room_exploration_server/cmd_vel" to="/cmd_vel"/>
<remap from="/room_exploration/room_exploration_server/move_base/cancel" to="/move_base/cancel"/> <remap from="/room_exploration/room_exploration_server/move_base/cancel" to="/move_base/cancel"/>
<remap from="/room_exploration/room_exploration_server/stereo_msg" to="/ceju_info"/> <remap from="/room_exploration/room_exploration_server/stereo_msg" to="/ceju_info"/>
<remap from="/room_exploration/room_exploration_server/ultrasonic_msg" to="/ultrasonic_data"/>
</node> </node>

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@ -39,7 +39,7 @@ execute_path: true
# can be turned off (0) when used with real robot # can be turned off (0) when used with real robot
# double # double
# [pixel], where one pixel is the size of one cell in the navigation grid map # [pixel], where one pixel is the size of one cell in the navigation grid map
goal_eps: 0.2 #0.35 goal_eps: 0.0 #0.35
# use a dynamic goal distance criterion: the larger the path's curvature, the more accurate the navigation. # use a dynamic goal distance criterion: the larger the path's curvature, the more accurate the navigation.
# Use 'goal_eps' param as maximum distance on straight paths and zero distance (accurate goal approaching) on 90° curves. # Use 'goal_eps' param as maximum distance on straight paths and zero distance (accurate goal approaching) on 90° curves.

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time:1713946450.917267440---------string:0.972170
time:1713946451.385985033---------string:transform1178行
time:1713946451.386172873---------string:current goal could be reached.
time:1713946451.489097052---------string:0.972170
time:1713946451.489200306---------string:11
time:1713946451.736717688---------string:Sending goal with eps
time:1713946451.736760273---------string:0.857672
time:1713946452.176002124---------string:transform1178行
time:1713946452.176086711---------string:current goal could be reached.
time:1713946452.187431501---------string:0.857672
time:1713946452.187540005---------string:12
time:1713946452.493114887---------string:Sending goal with eps
time:1713946452.493165347---------string:0.847159
time:1713946452.928119836---------string:transform1178行
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time:1713946453.529041356---------string:transform1178行
time:1713946453.679206182---------string:transform1178行
time:1713946453.679287268---------string:current goal could be reached.
time:1713946453.767661126---------string:0.847159
time:1713946453.767765838---------string:13
time:1713946454.072890957---------string:Sending goal with eps
time:1713946454.073005878---------string:-0.200000
time:1713946454.483820283---------string:transform1178行
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time:1713946458.539766412---------string:transform1178行
time:1713946458.689928327---------string:transform1178行
time:1713946458.690007372---------string:current goal could be reached.
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time:1713946459.164132111---------string:Sending goal with eps
time:1713946459.164251699---------string:0.690941
time:1713946459.594401997---------string:transform1178行
time:1713946459.594482500---------string:current goal could be reached.
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time:1713946459.956631724---------string:Sending goal with eps
time:1713946459.956679559---------string:0.769866
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time:1713946460.394578270---------string:current goal could be reached.
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time:1713946460.821411034---------string:Sending goal with eps
time:1713946460.821449827---------string:0.968744
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time:1713946461.289183925---------string:0.968744
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time:1713946461.546881452---------string:Sending goal with eps
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time:1713946462.000392198---------string:transform1178行
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time:1713946467.556305515---------string:transform1178行
time:1713946467.706463068---------string:transform1178行
time:1713946467.706545321---------string:current goal could be reached.
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time:1713946468.062419716---------string:Sending goal with eps
time:1713946468.062530553---------string:1.000000
time:1713946468.520261314---------string:transform1178行
time:1713946468.520346484---------string:current goal could be reached.
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time:1713946468.569140901---------string:19
time:1713946468.883222597---------string:Sending goal with eps
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time:1713946469.352665667---------string:transform1178行
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time:1713946469.502898183---------string:current goal could be reached.
time:1713946469.569599549---------string:0.999997
time:1713946469.569697552---------string:20
time:1713946469.822733219---------string:Sending goal with eps
time:1713946469.822775803---------string:0.999997
time:1713946470.254016432---------string:transform1178行
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time:1713946470.854897792---------string:current goal could be reached.
time:1713946470.887691955---------string:0.999997
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time:1713946471.232476787---------string:Sending goal with eps
time:1713946471.232586457---------string:1.000000
time:1713946471.663667252---------string:transform1178行
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time:1713946472.565258086---------string:current goal could be reached.
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time:1713946472.883402276---------string:Sending goal with eps
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time:1713946474.230973972---------string:current goal could be reached.
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time:1713946474.582537396---------string:Sending goal with eps
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time:1713946475.032950871---------string:transform1178行
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time:1713946475.942998626---------string:Sending goal with eps
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time:1713946488.078371071---------string:Sending goal with eps
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time:1713946488.507102467---------string:transform1178行
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time:1713946488.824492714---------string:Sending goal with eps
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time:1713948795.855103466---------string:Waiting for the move_base action server to come up
time:1713948800.855326658---------string:Waiting for the move_base action server to come up
time:1713948805.855541977---------string:Waiting for the move_base action server to come up
time:1713948810.855777425---------string:Waiting for the move_base action server to come up
time:1713948815.855972915---------string:Waiting for the move_base action server to come up
time:1713948820.856174824---------string:Waiting for the move_base action server to come up
time:1713948825.856343775---------string:Waiting for the move_base action server to come up
time:1713948830.856547147---------string:Waiting for the move_base action server to come up
time:1713948835.856744687---------string:Waiting for the move_base action server to come up
time:1713948840.856961480---------string:Waiting for the move_base action server to come up
time:1713948845.857093689---------string:Waiting for the move_base action server to come up
time:1713948850.857221524---------string:Waiting for the move_base action server to come up
time:1713948855.857400989---------string:Waiting for the move_base action server to come up
time:1713948860.857586289---------string:Waiting for the move_base action server to come up
time:1713948865.857718797---------string:Waiting for the move_base action server to come up
time:1713948870.857940270---------string:Waiting for the move_base action server to come up
time:1713948875.858133743---------string:Waiting for the move_base action server to come up
time:1713948880.858208213---------string:Waiting for the move_base action server to come up
time:1713948885.858271894---------string:Waiting for the move_base action server to come up
time:1713948890.860597544---------string:Waiting for the move_base action server to come up
time:1713948895.860694771---------string:Waiting for the move_base action server to come up
time:1713948900.860886796---------string:Waiting for the move_base action server to come up
time:1713948905.861041487---------string:Waiting for the move_base action server to come up
time:1713948910.861351645---------string:Waiting for the move_base action server to come up
time:1713948915.861518300---------string:Waiting for the move_base action server to come up
time:1713948920.861679705---------string:Waiting for the move_base action server to come up
time:1713948925.861861822---------string:Waiting for the move_base action server to come up
time:1713948930.862069900---------string:Waiting for the move_base action server to come up
time:1713948935.862236562---------string:Waiting for the move_base action server to come up
time:1713948940.862402350---------string:Waiting for the move_base action server to come up
time:1713948945.862573098---------string:Waiting for the move_base action server to come up
time:1713948950.862726931---------string:Waiting for the move_base action server to come up
time:1713948955.862897974---------string:Waiting for the move_base action server to come up
time:1713948960.863083312---------string:Waiting for the move_base action server to come up
time:1713948965.863270109---------string:Waiting for the move_base action server to come up
time:1713948970.863409948---------string:Waiting for the move_base action server to come up
time:1713948975.863638751---------string:Waiting for the move_base action server to come up
time:1713948980.863847721---------string:Waiting for the move_base action server to come up
time:1713948985.864050276---------string:Waiting for the move_base action server to come up
time:1713948990.864276750---------string:Waiting for the move_base action server to come up
time:1713948995.864458015---------string:Waiting for the move_base action server to come up
time:1713949000.864682742---------string:Waiting for the move_base action server to come up
time:1713949005.864884428---------string:Waiting for the move_base action server to come up
time:1713949010.865062781---------string:Waiting for the move_base action server to come up
time:1713949015.865284596---------string:Waiting for the move_base action server to come up
time:1713949020.865462952---------string:Waiting for the move_base action server to come up
time:1713949025.865692937---------string:Waiting for the move_base action server to come up
time:1713949030.865916798---------string:Waiting for the move_base action server to come up
time:1713949035.866141828---------string:Waiting for the move_base action server to come up
time:1713949040.866352858---------string:Waiting for the move_base action server to come up
time:1713949045.866562139---------string:Waiting for the move_base action server to come up
time:1713949050.866643959---------string:Waiting for the move_base action server to come up
time:1713949055.866735405---------string:Waiting for the move_base action server to come up
time:1713949060.866877896---------string:Waiting for the move_base action server to come up
time:1713949065.867035848---------string:Waiting for the move_base action server to come up
time:1713949070.867198468---------string:Waiting for the move_base action server to come up
time:1713949075.867382673---------string:Waiting for the move_base action server to come up
time:1713949080.867547629---------string:Waiting for the move_base action server to come up
time:1713949085.867702961---------string:Waiting for the move_base action server to come up
time:1713949090.867892712---------string:Waiting for the move_base action server to come up
time:1713949095.868043088---------string:Waiting for the move_base action server to come up
time:1713949100.868206299---------string:Waiting for the move_base action server to come up
time:1713949105.868389638---------string:Waiting for the move_base action server to come up
time:1713949110.868573561---------string:Waiting for the move_base action server to come up
time:1713949115.868742901---------string:Waiting for the move_base action server to come up
time:1713949120.868871699---------string:Waiting for the move_base action server to come up
time:1713949125.869044833---------string:Waiting for the move_base action server to come up
time:1713949130.869244512---------string:Waiting for the move_base action server to come up
time:1713949135.869415607---------string:Waiting for the move_base action server to come up
time:1713949140.869599537---------string:Waiting for the move_base action server to come up
time:1713949145.869802428---------string:Waiting for the move_base action server to come up
time:1713949150.870052571---------string:Waiting for the move_base action server to come up
time:1713949155.870290466---------string:Waiting for the move_base action server to come up
time:1713949160.870504152---------string:Waiting for the move_base action server to come up
time:1713949165.870708505---------string:Waiting for the move_base action server to come up
time:1713949170.870807855---------string:Waiting for the move_base action server to come up
time:1713949175.870905165---------string:Waiting for the move_base action server to come up
time:1713949180.870989350---------string:Waiting for the move_base action server to come up
time:1713949185.871084037---------string:Waiting for the move_base action server to come up
time:1713949190.871178142---------string:Waiting for the move_base action server to come up
time:1713949195.871370413---------string:Waiting for the move_base action server to come up
time:1713949200.871564211---------string:Waiting for the move_base action server to come up
time:1713949205.871759945---------string:Waiting for the move_base action server to come up
time:1713949210.871911964---------string:Waiting for the move_base action server to come up
time:1713949215.872068804---------string:Waiting for the move_base action server to come up
time:1713949220.872214290---------string:Waiting for the move_base action server to come up
time:1713949225.872445977---------string:Waiting for the move_base action server to come up
time:1713949230.872640203---------string:Waiting for the move_base action server to come up
time:1713949235.872788160---------string:Waiting for the move_base action server to come up
time:1713949240.872983972---------string:Waiting for the move_base action server to come up
time:1713949245.873127366---------string:Waiting for the move_base action server to come up
time:1713949250.873291520---------string:Waiting for the move_base action server to come up
time:1713949255.873470651---------string:Waiting for the move_base action server to come up
time:1713949260.873620215---------string:Waiting for the move_base action server to come up
time:1713949265.873761282---------string:Waiting for the move_base action server to come up
time:1713949270.873951670---------string:Waiting for the move_base action server to come up
time:1713949275.874129125---------string:Waiting for the move_base action server to come up
time:1713949280.874356464---------string:Waiting for the move_base action server to come up
time:1713949285.874587204---------string:Waiting for the move_base action server to come up
time:1713949290.874772565---------string:Waiting for the move_base action server to come up
time:1713949295.874936069---------string:Waiting for the move_base action server to come up
time:1713949300.875079983---------string:Waiting for the move_base action server to come up
time:1713949305.875281499---------string:Waiting for the move_base action server to come up
time:1713949310.875457211---------string:Waiting for the move_base action server to come up
time:1713949315.875679978---------string:Waiting for the move_base action server to come up
time:1713949320.875817457---------string:Waiting for the move_base action server to come up
time:1713949325.875885121---------string:Waiting for the move_base action server to come up
time:1713949330.876077735---------string:Waiting for the move_base action server to come up
time:1713949335.876355701---------string:Waiting for the move_base action server to come up
time:1713949340.876554380---------string:Waiting for the move_base action server to come up
time:1713949345.876707971---------string:Waiting for the move_base action server to come up
time:1713949350.876895849---------string:Waiting for the move_base action server to come up
time:1713949355.877045545---------string:Waiting for the move_base action server to come up
time:1713949360.877200928---------string:Waiting for the move_base action server to come up
time:1713949365.877362703---------string:Waiting for the move_base action server to come up
time:1713949370.877501300---------string:Waiting for the move_base action server to come up
time:1713949375.877648389---------string:Waiting for the move_base action server to come up
time:1713949380.877818705---------string:Waiting for the move_base action server to come up
time:1713949385.878004010---------string:Waiting for the move_base action server to come up
time:1713949390.878183231---------string:Waiting for the move_base action server to come up
time:1713949395.878361822---------string:Waiting for the move_base action server to come up
time:1713949400.878577657---------string:Waiting for the move_base action server to come up
time:1713949405.878807930---------string:Waiting for the move_base action server to come up
time:1713949410.878994312---------string:Waiting for the move_base action server to come up
time:1713949415.879194509---------string:Waiting for the move_base action server to come up
time:1713949420.879389557---------string:Waiting for the move_base action server to come up
time:1713949425.879617082---------string:Waiting for the move_base action server to come up
time:1713949430.879830441---------string:Waiting for the move_base action server to come up
time:1713949435.880004305---------string:Waiting for the move_base action server to come up
time:1713949440.880175138---------string:Waiting for the move_base action server to come up
time:1713949445.880353216---------string:Waiting for the move_base action server to come up
time:1713949450.880543533---------string:Waiting for the move_base action server to come up
time:1713949455.880710897---------string:Waiting for the move_base action server to come up
time:1713949460.880877818---------string:Waiting for the move_base action server to come up
time:1713949465.881076769---------string:Waiting for the move_base action server to come up
time:1713949470.881239604---------string:Waiting for the move_base action server to come up
time:1713949475.881325033---------string:Waiting for the move_base action server to come up
time:1713949480.881429684---------string:Waiting for the move_base action server to come up
time:1713949485.881502068---------string:Waiting for the move_base action server to come up
time:1713949490.881574403---------string:Waiting for the move_base action server to come up
time:1713949495.881651480---------string:Waiting for the move_base action server to come up
time:1713949500.881707817---------string:Waiting for the move_base action server to come up
time:1713949505.881796327---------string:Waiting for the move_base action server to come up
time:1713949510.881979010---------string:Waiting for the move_base action server to come up
time:1713949515.882157482---------string:Waiting for the move_base action server to come up
time:1713949520.882321425---------string:Waiting for the move_base action server to come up
time:1713949525.882475711---------string:Waiting for the move_base action server to come up
time:1713949530.882652012---------string:Waiting for the move_base action server to come up
time:1713949535.882817309---------string:Waiting for the move_base action server to come up
time:1713949540.882952276---------string:Waiting for the move_base action server to come up
time:1713949545.883140519---------string:Waiting for the move_base action server to come up
time:1713949550.883348462---------string:Waiting for the move_base action server to come up
time:1713949555.883519173---------string:Waiting for the move_base action server to come up
time:1713949560.883670097---------string:Waiting for the move_base action server to come up
time:1713949565.883870022---------string:Waiting for the move_base action server to come up
time:1713949570.884083613---------string:Waiting for the move_base action server to come up
time:1713949575.884304138---------string:Waiting for the move_base action server to come up
time:1713949580.884518754---------string:Waiting for the move_base action server to come up
time:1713949585.884675230---------string:Waiting for the move_base action server to come up
time:1713949590.884890784---------string:Waiting for the move_base action server to come up
time:1713949595.885088145---------string:Waiting for the move_base action server to come up
time:1713949600.885288004---------string:Waiting for the move_base action server to come up
time:1713949605.885461207---------string:Waiting for the move_base action server to come up
time:1713949610.885638980---------string:Waiting for the move_base action server to come up
time:1713949615.885813456---------string:Waiting for the move_base action server to come up
time:1713949620.886010021---------string:Waiting for the move_base action server to come up
time:1713949625.886277123---------string:Waiting for the move_base action server to come up
time:1713949630.886475401---------string:Waiting for the move_base action server to come up
time:1713949635.886620047---------string:Waiting for the move_base action server to come up
time:1713949640.886779347---------string:Waiting for the move_base action server to come up
time:1713949645.886941399---------string:Waiting for the move_base action server to come up
time:1713949650.887105368---------string:Waiting for the move_base action server to come up
time:1713949655.887299890---------string:Waiting for the move_base action server to come up
time:1713949660.887429093---------string:Waiting for the move_base action server to come up
time:1713949665.887633015---------string:Waiting for the move_base action server to come up
time:1713949670.887833860---------string:Waiting for the move_base action server to come up
time:1713949675.888054447---------string:Waiting for the move_base action server to come up
time:1713949680.888225460---------string:Waiting for the move_base action server to come up
time:1713949685.888307317---------string:Waiting for the move_base action server to come up
time:1713949690.888537767---------string:Waiting for the move_base action server to come up
time:1713949695.888748055---------string:Waiting for the move_base action server to come up
time:1713949700.888942367---------string:Waiting for the move_base action server to come up
time:1713949705.889166873---------string:Waiting for the move_base action server to come up
time:1713949710.889368887---------string:Waiting for the move_base action server to come up
time:1713949715.889538891---------string:Waiting for the move_base action server to come up
time:1713949720.889731536---------string:Waiting for the move_base action server to come up
time:1713949725.889986301---------string:Waiting for the move_base action server to come up
time:1713949730.890176151---------string:Waiting for the move_base action server to come up
time:1713949735.890448182---------string:Waiting for the move_base action server to come up
time:1713949740.890600134---------string:Waiting for the move_base action server to come up
time:1713949745.890743539---------string:Waiting for the move_base action server to come up
time:1713949750.890929555---------string:Waiting for the move_base action server to come up
time:1713949755.891107570---------string:Waiting for the move_base action server to come up
time:1713949760.891264888---------string:Waiting for the move_base action server to come up
time:1713949765.891410984---------string:Waiting for the move_base action server to come up
time:1713949770.891597911---------string:Waiting for the move_base action server to come up
time:1713949775.891777984---------string:Waiting for the move_base action server to come up
time:1713949780.891923933---------string:Waiting for the move_base action server to come up
time:1713949785.892094236---------string:Waiting for the move_base action server to come up
time:1713949790.892319964---------string:Waiting for the move_base action server to come up
time:1713949795.892498909---------string:Waiting for the move_base action server to come up
time:1713949800.892708803---------string:Waiting for the move_base action server to come up
time:1713949805.892887392---------string:Waiting for the move_base action server to come up
time:1713949810.893050592---------string:Waiting for the move_base action server to come up
time:1713949815.893273227---------string:Waiting for the move_base action server to come up
time:1713949820.893488976---------string:Waiting for the move_base action server to come up
time:1713949825.893672636---------string:Waiting for the move_base action server to come up
time:1713949830.893905450---------string:Waiting for the move_base action server to come up
time:1713949835.894125477---------string:Waiting for the move_base action server to come up
time:1713949840.894306941---------string:Waiting for the move_base action server to come up
time:1713949845.894521183---------string:Waiting for the move_base action server to come up
time:1713949850.894698099---------string:Waiting for the move_base action server to come up
time:1713949855.894921864---------string:Waiting for the move_base action server to come up
time:1713949860.895125294---------string:Waiting for the move_base action server to come up
time:1713949865.895295454---------string:Waiting for the move_base action server to come up
time:1713949870.895496988---------string:Waiting for the move_base action server to come up
time:1713949875.895556568---------string:Waiting for the move_base action server to come up
time:1713949880.895736565---------string:Waiting for the move_base action server to come up
time:1713949885.895869776---------string:Waiting for the move_base action server to come up
time:1713949890.896051471---------string:Waiting for the move_base action server to come up
time:1713949895.896189985---------string:Waiting for the move_base action server to come up
time:1713949900.896351139---------string:Waiting for the move_base action server to come up
time:1713949905.896517056---------string:Waiting for the move_base action server to come up
time:1713949910.896723229---------string:Waiting for the move_base action server to come up
time:1713949915.896952074---------string:Waiting for the move_base action server to come up
time:1713949920.897181049---------string:Waiting for the move_base action server to come up
time:1713949925.897390826---------string:Waiting for the move_base action server to come up
time:1713949930.897470211---------string:Waiting for the move_base action server to come up
time:1713949935.897544822---------string:Waiting for the move_base action server to come up
time:1713949940.897756611---------string:Waiting for the move_base action server to come up
time:1713949945.897919144---------string:Waiting for the move_base action server to come up
time:1713949950.898054220---------string:Waiting for the move_base action server to come up
time:1713949955.898225341---------string:Waiting for the move_base action server to come up
time:1713949960.898457810---------string:Waiting for the move_base action server to come up
time:1713949965.898601656---------string:Waiting for the move_base action server to come up
time:1713949970.898773175---------string:Waiting for the move_base action server to come up
time:1713949975.898902598---------string:Waiting for the move_base action server to come up
time:1713949980.899079975---------string:Waiting for the move_base action server to come up
time:1713949985.899241663---------string:Waiting for the move_base action server to come up
time:1713949990.899375641---------string:Waiting for the move_base action server to come up
time:1713949995.899497595---------string:Waiting for the move_base action server to come up
time:1713950000.899646546---------string:Waiting for the move_base action server to come up
time:1713950005.899820685---------string:Waiting for the move_base action server to come up
time:1713950010.899976790---------string:Waiting for the move_base action server to come up
time:1713950015.900143676---------string:Waiting for the move_base action server to come up
time:1713950020.900284830---------string:Waiting for the move_base action server to come up
time:1713950025.900435778---------string:Waiting for the move_base action server to come up
time:1713950030.900583924---------string:Waiting for the move_base action server to come up
time:1713950035.900759546---------string:Waiting for the move_base action server to come up
time:1713950040.900936638---------string:Waiting for the move_base action server to come up
time:1713950045.901098816---------string:Waiting for the move_base action server to come up
time:1713950050.901304067---------string:Waiting for the move_base action server to come up
time:1713950055.901491680---------string:Waiting for the move_base action server to come up
time:1713950060.901726350---------string:Waiting for the move_base action server to come up
time:1713950065.901949410---------string:Waiting for the move_base action server to come up
time:1713950070.902057865---------string:Waiting for the move_base action server to come up
time:1713950075.902150536---------string:Waiting for the move_base action server to come up
time:1713950080.902239627---------string:Waiting for the move_base action server to come up
time:1713950085.902318680---------string:Waiting for the move_base action server to come up
time:1713950090.902409524---------string:Waiting for the move_base action server to come up
time:1713950095.902499285---------string:Waiting for the move_base action server to come up
time:1713950100.902601920---------string:Waiting for the move_base action server to come up
time:1713950105.902777758---------string:Waiting for the move_base action server to come up
time:1713950110.902920019---------string:Waiting for the move_base action server to come up
time:1713950115.903086701---------string:Waiting for the move_base action server to come up
time:1713950120.903271643---------string:Waiting for the move_base action server to come up
time:1713950125.903455558---------string:Waiting for the move_base action server to come up
time:1713950130.903618870---------string:Waiting for the move_base action server to come up
time:1713950135.903793623---------string:Waiting for the move_base action server to come up
time:1713950140.903943034---------string:Waiting for the move_base action server to come up
time:1713950145.904091568---------string:Waiting for the move_base action server to come up
time:1713950150.904227815---------string:Waiting for the move_base action server to come up
time:1713950155.904389657---------string:Waiting for the move_base action server to come up
time:1713950160.904600685---------string:Waiting for the move_base action server to come up
time:1713950165.904850075---------string:Waiting for the move_base action server to come up
time:1713950170.905092885---------string:Waiting for the move_base action server to come up
time:1713950175.905309542---------string:Waiting for the move_base action server to come up
time:1713950180.905452479---------string:Waiting for the move_base action server to come up
time:1713950185.905666029---------string:Waiting for the move_base action server to come up
time:1713950190.905864711---------string:Waiting for the move_base action server to come up
time:1713950195.906043831---------string:Waiting for the move_base action server to come up
time:1713950200.906194613---------string:Waiting for the move_base action server to come up
time:1713950205.906444185---------string:Waiting for the move_base action server to come up
time:1713950210.906609368---------string:Waiting for the move_base action server to come up
time:1713950215.906790463---------string:Waiting for the move_base action server to come up
time:1713950220.906960903---------string:Waiting for the move_base action server to come up
time:1713950225.907157119---------string:Waiting for the move_base action server to come up
time:1713950230.907410000---------string:Waiting for the move_base action server to come up
time:1713950235.907646026---------string:Waiting for the move_base action server to come up
time:1713950240.907821137---------string:Waiting for the move_base action server to come up
time:1713950245.908008803---------string:Waiting for the move_base action server to come up
time:1713950250.908216161---------string:Waiting for the move_base action server to come up
time:1713950255.908374400---------string:Waiting for the move_base action server to come up
time:1713950260.908589174---------string:Waiting for the move_base action server to come up
time:1713950265.908786072---------string:Waiting for the move_base action server to come up
time:1713950270.908966769---------string:Waiting for the move_base action server to come up
time:1713950275.909118941---------string:Waiting for the move_base action server to come up
time:1713950280.909288925---------string:Waiting for the move_base action server to come up
time:1713950285.909439554---------string:Waiting for the move_base action server to come up
time:1713950290.909613338---------string:Waiting for the move_base action server to come up
time:1713950295.909813977---------string:Waiting for the move_base action server to come up
time:1713950300.909949437---------string:Waiting for the move_base action server to come up
time:1713950305.910081745---------string:Waiting for the move_base action server to come up
time:1713950310.910269417---------string:Waiting for the move_base action server to come up
time:1713950315.910490996---------string:Waiting for the move_base action server to come up
time:1713950320.910649481---------string:Waiting for the move_base action server to come up
time:1713950325.910787033---------string:Waiting for the move_base action server to come up
time:1713950330.910949565---------string:Waiting for the move_base action server to come up
time:1713950335.911213906---------string:Waiting for the move_base action server to come up
time:1713950340.911452115---------string:Waiting for the move_base action server to come up
time:1713950345.911604205---------string:Waiting for the move_base action server to come up
time:1713950350.911790150---------string:Waiting for the move_base action server to come up
time:1713950355.911948776---------string:Waiting for the move_base action server to come up
time:1713950360.912146686---------string:Waiting for the move_base action server to come up
time:1713950365.912331152---------string:Waiting for the move_base action server to come up
time:1713950370.912492309---------string:Waiting for the move_base action server to come up
time:1713950375.912631965---------string:Waiting for the move_base action server to come up
time:1713950380.912844110---------string:Waiting for the move_base action server to come up
time:1713950385.913019696---------string:Waiting for the move_base action server to come up
time:1713950390.913195799---------string:Waiting for the move_base action server to come up
time:1713950395.913361938---------string:Waiting for the move_base action server to come up
time:1713950400.913597495---------string:Waiting for the move_base action server to come up
time:1713950405.913813231---------string:Waiting for the move_base action server to come up
time:1713950410.914013243---------string:Waiting for the move_base action server to come up
time:1713950415.914192864---------string:Waiting for the move_base action server to come up
time:1713950420.914544615---------string:Waiting for the move_base action server to come up
time:1713950425.914763084---------string:Waiting for the move_base action server to come up
time:1713950430.914986535---------string:Waiting for the move_base action server to come up
time:1713950435.915194535---------string:Waiting for the move_base action server to come up
time:1713950440.915399017---------string:Waiting for the move_base action server to come up
time:1713950445.915561738---------string:Waiting for the move_base action server to come up
time:1713950450.915645623---------string:Waiting for the move_base action server to come up
time:1713950455.915736108---------string:Waiting for the move_base action server to come up
time:1713950460.915937875---------string:Waiting for the move_base action server to come up
time:1713950465.916100363---------string:Waiting for the move_base action server to come up
time:1713950470.916252686---------string:Waiting for the move_base action server to come up
time:1713950475.916431834---------string:Waiting for the move_base action server to come up
time:1713950480.916557816---------string:Waiting for the move_base action server to come up
time:1713950485.916689208---------string:Waiting for the move_base action server to come up
time:1713950490.916835856---------string:Waiting for the move_base action server to come up
time:1713950495.916977857---------string:Waiting for the move_base action server to come up
time:1713950500.917164137---------string:Waiting for the move_base action server to come up
time:1713950505.917297769---------string:Waiting for the move_base action server to come up
time:1713950510.917501470---------string:Waiting for the move_base action server to come up
time:1713950515.917643011---------string:Waiting for the move_base action server to come up
time:1713950520.917818558---------string:Waiting for the move_base action server to come up
time:1713950525.917961511---------string:Waiting for the move_base action server to come up
time:1713950530.918126314---------string:Waiting for the move_base action server to come up
time:1713950535.918297989---------string:Waiting for the move_base action server to come up
time:1713950540.918479055---------string:Waiting for the move_base action server to come up
time:1713950545.918661520---------string:Waiting for the move_base action server to come up
time:1713950550.918889897---------string:Waiting for the move_base action server to come up
time:1713950555.919074811---------string:Waiting for the move_base action server to come up
time:1713950560.919246183---------string:Waiting for the move_base action server to come up
time:1713950565.919383758---------string:Waiting for the move_base action server to come up
time:1713950570.919518621---------string:Waiting for the move_base action server to come up
time:1713950575.919711021---------string:Waiting for the move_base action server to come up
time:1713950580.919874191---------string:Waiting for the move_base action server to come up
time:1713950585.920028120---------string:Waiting for the move_base action server to come up
time:1713950590.920224589---------string:Waiting for the move_base action server to come up
time:1713950595.920407452---------string:Waiting for the move_base action server to come up
time:1713950600.920564892---------string:Waiting for the move_base action server to come up
time:1713950605.920723593---------string:Waiting for the move_base action server to come up
time:1713950610.920887197---------string:Waiting for the move_base action server to come up
time:1713950615.921085298---------string:Waiting for the move_base action server to come up
time:1713950620.921352450---------string:Waiting for the move_base action server to come up
time:1713950625.921638322---------string:Waiting for the move_base action server to come up
time:1713950630.921850578---------string:Waiting for the move_base action server to come up
time:1713950635.922047684---------string:Waiting for the move_base action server to come up
time:1713950640.922229474---------string:Waiting for the move_base action server to come up
time:1713950645.922431360---------string:Waiting for the move_base action server to come up
time:1713950650.922602128---------string:Waiting for the move_base action server to come up
time:1713950655.922772520---------string:Waiting for the move_base action server to come up
time:1713950660.923024029---------string:Waiting for the move_base action server to come up
time:1713950665.923159594---------string:Waiting for the move_base action server to come up
time:1713950670.923290164---------string:Waiting for the move_base action server to come up
time:1713950675.923441515---------string:Waiting for the move_base action server to come up
time:1713950680.923651376---------string:Waiting for the move_base action server to come up
time:1713950685.923885727---------string:Waiting for the move_base action server to come up
time:1713950690.924081083---------string:Waiting for the move_base action server to come up
time:1713950695.924265545---------string:Waiting for the move_base action server to come up
time:1713950700.924482380---------string:Waiting for the move_base action server to come up
time:1713950705.924650014---------string:Waiting for the move_base action server to come up
time:1713950710.924779918---------string:Waiting for the move_base action server to come up
time:1713950715.924943935---------string:Waiting for the move_base action server to come up
time:1713950720.925116198---------string:Waiting for the move_base action server to come up
time:1713950725.925286002---------string:Waiting for the move_base action server to come up
time:1713950730.925483771---------string:Waiting for the move_base action server to come up
time:1713950735.925642501---------string:Waiting for the move_base action server to come up
time:1713950740.925796987---------string:Waiting for the move_base action server to come up
time:1713950745.926009148---------string:Waiting for the move_base action server to come up
time:1713950750.926162102---------string:Waiting for the move_base action server to come up
time:1713950755.926321264---------string:Waiting for the move_base action server to come up
time:1713950760.926447336---------string:Waiting for the move_base action server to come up
time:1713950765.926610686---------string:Waiting for the move_base action server to come up
time:1713950770.926797680---------string:Waiting for the move_base action server to come up
time:1713950775.927047475---------string:Waiting for the move_base action server to come up
time:1713950780.927197391---------string:Waiting for the move_base action server to come up
time:1713950785.927353958---------string:Waiting for the move_base action server to come up
time:1713950790.927530661---------string:Waiting for the move_base action server to come up
time:1713950795.927696652---------string:Waiting for the move_base action server to come up
time:1713950800.927819329---------string:Waiting for the move_base action server to come up
time:1713950805.927894382---------string:Waiting for the move_base action server to come up
time:1713950810.928161336---------string:Waiting for the move_base action server to come up
time:1713950815.928352792---------string:Waiting for the move_base action server to come up
time:1713950820.928577897---------string:Waiting for the move_base action server to come up
time:1713950825.928755334---------string:Waiting for the move_base action server to come up
time:1713950830.928942038---------string:Waiting for the move_base action server to come up
time:1713950835.929108316---------string:Waiting for the move_base action server to come up
time:1713950840.929287768---------string:Waiting for the move_base action server to come up
time:1713950845.929488615---------string:Waiting for the move_base action server to come up
time:1713950850.929671828---------string:Waiting for the move_base action server to come up
time:1713950855.929821711---------string:Waiting for the move_base action server to come up
time:1713950860.930011233---------string:Waiting for the move_base action server to come up
time:1713950865.930162279---------string:Waiting for the move_base action server to come up
time:1713950870.930359774---------string:Waiting for the move_base action server to come up
time:1713950875.930537850---------string:Waiting for the move_base action server to come up
time:1713950880.930740891---------string:Waiting for the move_base action server to come up
time:1713950885.930835943---------string:Waiting for the move_base action server to come up
time:1713950890.930950511---------string:Waiting for the move_base action server to come up
time:1713950895.931173891---------string:Waiting for the move_base action server to come up
time:1713950900.931356503---------string:Waiting for the move_base action server to come up
time:1713950905.931503348---------string:Waiting for the move_base action server to come up
time:1713950910.931718304---------string:Waiting for the move_base action server to come up
time:1713950915.931911288---------string:Waiting for the move_base action server to come up
time:1713950920.932062800---------string:Waiting for the move_base action server to come up
time:1713950925.932213421---------string:Waiting for the move_base action server to come up
time:1713950930.932359401---------string:Waiting for the move_base action server to come up
time:1713950935.932530819---------string:Waiting for the move_base action server to come up
time:1713950940.932663839---------string:Waiting for the move_base action server to come up
time:1713950945.932848332---------string:Waiting for the move_base action server to come up
time:1713950950.933037960---------string:Waiting for the move_base action server to come up
time:1713950955.933240926---------string:Waiting for the move_base action server to come up
time:1713950960.933421682---------string:Waiting for the move_base action server to come up
time:1713950965.933581720---------string:Waiting for the move_base action server to come up
time:1713950970.933775617---------string:Waiting for the move_base action server to come up
time:1713950975.933937782---------string:Waiting for the move_base action server to come up
time:1713950980.934129496---------string:Waiting for the move_base action server to come up
time:1713950985.934305875---------string:Waiting for the move_base action server to come up
time:1713950990.934494368---------string:Waiting for the move_base action server to come up
time:1713950995.934615673---------string:Waiting for the move_base action server to come up
time:1713951000.934816818---------string:Waiting for the move_base action server to come up
time:1713951005.934893960---------string:Waiting for the move_base action server to come up
time:1713951010.934955920---------string:Waiting for the move_base action server to come up
time:1713951015.935183556---------string:Waiting for the move_base action server to come up
time:1713951020.935346776---------string:Waiting for the move_base action server to come up
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time:1713951050.936420895---------string:Waiting for the move_base action server to come up
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time:1713951080.937311909---------string:Waiting for the move_base action server to come up
time:1713951085.937536884---------string:Waiting for the move_base action server to come up
time:1713951090.937728115---------string:Waiting for the move_base action server to come up
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View File

@ -1,83 +0,0 @@
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@ -1,468 +0,0 @@
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time:1714122240.280910078---------string:ultrasonic检测到物体
time:1714122240.314996549---------string:ultrasonic检测到物体
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time:1714122240.450867598---------string:ultrasonic检测到物体
time:1714122240.517116401---------string:ultrasonic检测到物体
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time:1714122240.583894291---------string:ultrasonic检测到物体
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time:1714122240.687154713---------string:ultrasonic检测到物体
time:1714122240.721126558---------string:ultrasonic检测到物体
time:1714122240.731228511---------string:transform1178行
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time:1714122242.084330205---------string:current goal could be reached.
time:1714122242.146322684---------string:0.000000
time:1714122242.146434684---------string:1
time:1714122242.146515477---------string:stop!!
time:1714122242.146598311---------string:turn right
time:1714122243.804983154---------string:ultrasonic检测到物体
time:1714122243.838092535---------string:ultrasonic检测到物体
time:1714122243.872119797---------string:ultrasonic检测到物体
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time:1714122244.110177052---------string:ultrasonic检测到物体
time:1714122244.144991237---------string:ultrasonic检测到物体
time:1714122244.146667750---------string:stop!!
time:1714122244.179026958---------string:ultrasonic检测到物体
time:1714122244.213120138---------string:ultrasonic检测到物体
time:1714122244.247096067---------string:ultrasonic检测到物体
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time:1714122246.880197022---------string:ultrasonic检测到物体
time:1714122246.914169742---------string:ultrasonic检测到物体
time:1714122246.949185179---------string:ultrasonic检测到物体
time:1714122246.983249192---------string:ultrasonic检测到物体
time:1714122247.049091701---------string:ultrasonic检测到物体
time:1714122247.082172498---------string:ultrasonic检测到物体
time:1714122247.115962925---------string:ultrasonic检测到物体
time:1714122247.149930104---------string:ultrasonic检测到物体
time:1714122247.184165910---------string:ultrasonic检测到物体
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time:1714122247.253128985---------string:ultrasonic检测到物体
time:1714122248.146924470---------string:stop!!
time:1714122248.147131555---------string:turn left
time:1714122250.147204501---------string:stop!!
time:1714122256.147536522---------string:stop!!
time:1714122256.502453556---------string:Sending goal with eps
time:1714122256.502584223---------string:0.968750
time:1714122257.002193251---------string:transform1178行
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time:1714122264.264238966---------string:ultrasonic检测到物体
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time:1714122270.084272973---------string:current goal could be reached.
time:1714122270.145402987---------string:0.968750
time:1714122270.145545614---------string:3
time:1714122270.145659948---------string:stop!!
time:1714122270.145741323---------string:turn right
time:1714122272.145932712---------string:stop!!
time:1714122276.146191829---------string:stop!!
time:1714122276.146258913---------string:turn left
time:1714122278.146319641---------string:stop!!
time:1714122284.146514379---------string:stop!!
time:1714122289.161333671---------string:Waiting for the move_base action server to come up
time:1714122294.161497197---------string:Waiting for the move_base action server to come up
time:1714122299.161746778---------string:Waiting for the move_base action server to come up
time:1714122304.161937455---------string:Waiting for the move_base action server to come up
time:1714122309.162105687---------string:Waiting for the move_base action server to come up
time:1714122314.162317974---------string:Waiting for the move_base action server to come up
time:1714122319.162474564---------string:Waiting for the move_base action server to come up
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time:1714122334.163038329---------string:Waiting for the move_base action server to come up
time:1714122339.163253011---------string:Waiting for the move_base action server to come up
time:1714122344.163452539---------string:Waiting for the move_base action server to come up

View File

@ -1,432 +0,0 @@
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time:1714122465.130574093---------string:current goal could be reached.
time:1714122465.165000071---------string:0.000000
time:1714122465.165116155---------string:1
time:1714122465.165201323---------string:stop!!
time:1714122465.165279198---------string:turn right
time:1714122467.112601104---------string:ultrasonic检测到物体
time:1714122467.145845239---------string:ultrasonic检测到物体
time:1714122467.165342433---------string:stop!!
time:1714122467.179603295---------string:ultrasonic检测到物体
time:1714122467.213621811---------string:ultrasonic检测到物体
time:1714122467.247595410---------string:ultrasonic检测到物体
time:1714122467.281629968---------string:ultrasonic检测到物体
time:1714122467.315664818---------string:ultrasonic检测到物体
time:1714122467.381619626---------string:ultrasonic检测到物体
time:1714122467.414687593---------string:ultrasonic检测到物体
time:1714122467.448623858---------string:ultrasonic检测到物体
time:1714122467.482615833---------string:ultrasonic检测到物体
time:1714122467.516565223---------string:ultrasonic检测到物体
time:1714122467.550615531---------string:ultrasonic检测到物体
time:1714122467.587191109---------string:ultrasonic检测到物体
time:1714122467.650684523---------string:ultrasonic检测到物体
time:1714122467.683590905---------string:ultrasonic检测到物体
time:1714122467.717685256---------string:ultrasonic检测到物体
time:1714122467.751570479---------string:ultrasonic检测到物体
time:1714122467.785571787---------string:ultrasonic检测到物体
time:1714122467.820640311---------string:ultrasonic检测到物体
time:1714122467.855028955---------string:ultrasonic检测到物体
time:1714122467.920565510---------string:ultrasonic检测到物体
time:1714122467.953702894---------string:ultrasonic检测到物体
time:1714122467.987904287---------string:ultrasonic检测到物体
time:1714122468.021578634---------string:ultrasonic检测到物体
time:1714122468.055580817---------string:ultrasonic检测到物体
time:1714122468.089602833---------string:ultrasonic检测到物体
time:1714122468.123750850---------string:ultrasonic检测到物体
time:1714122468.189658991---------string:ultrasonic检测到物体
time:1714122468.222619916---------string:ultrasonic检测到物体
time:1714122468.256891600---------string:ultrasonic检测到物体
time:1714122468.290685532---------string:ultrasonic检测到物体
time:1714122468.325726931---------string:ultrasonic检测到物体
time:1714122468.359657363---------string:ultrasonic检测到物体
time:1714122468.393804797---------string:ultrasonic检测到物体
time:1714122468.459721688---------string:ultrasonic检测到物体
time:1714122468.492873656---------string:ultrasonic检测到物体
time:1714122468.526814296---------string:ultrasonic检测到物体
time:1714122468.560664228---------string:ultrasonic检测到物体
time:1714122468.594974413---------string:ultrasonic检测到物体
time:1714122468.628791094---------string:ultrasonic检测到物体
time:1714122468.662610109---------string:ultrasonic检测到物体
time:1714122468.728643084---------string:ultrasonic检测到物体
time:1714122468.761588259---------string:ultrasonic检测到物体
time:1714122468.795589275---------string:ultrasonic检测到物体
time:1714122468.829569874---------string:ultrasonic检测到物体
time:1714122468.863617849---------string:ultrasonic检测到物体
time:1714122468.897681865---------string:ultrasonic检测到物体
time:1714122468.931703590---------string:ultrasonic检测到物体
time:1714122468.997579356---------string:ultrasonic检测到物体
time:1714122469.030765740---------string:ultrasonic检测到物体
time:1714122469.064646589---------string:ultrasonic检测到物体
time:1714122469.098623688---------string:ultrasonic检测到物体
time:1714122469.132739330---------string:ultrasonic检测到物体
time:1714122469.167182516---------string:ultrasonic检测到物体
time:1714122469.200654445---------string:ultrasonic检测到物体
time:1714122469.266542169---------string:ultrasonic检测到物体
time:1714122469.303086538---------string:ultrasonic检测到物体
time:1714122469.333641194---------string:ultrasonic检测到物体
time:1714122469.367569585---------string:ultrasonic检测到物体
time:1714122469.401577309---------string:ultrasonic检测到物体
time:1714122469.436286497---------string:ultrasonic检测到物体
time:1714122469.469653717---------string:ultrasonic检测到物体
time:1714122469.535711776---------string:ultrasonic检测到物体
time:1714122469.569638416---------string:ultrasonic检测到物体
time:1714122469.602682466---------string:ultrasonic检测到物体
time:1714122469.636719358---------string:ultrasonic检测到物体
time:1714122469.670670790---------string:ultrasonic检测到物体
time:1714122469.704752599---------string:ultrasonic检测到物体
time:1714122469.738864449---------string:ultrasonic检测到物体
time:1714122469.804693256---------string:ultrasonic检测到物体
time:1714122469.837766181---------string:ultrasonic检测到物体
time:1714122469.871692822---------string:ultrasonic检测到物体
time:1714122469.905703171---------string:ultrasonic检测到物体
time:1714122469.939757563---------string:ultrasonic检测到物体
time:1714122469.973702579---------string:ultrasonic检测到物体
time:1714122470.007668594---------string:ultrasonic检测到物体
time:1714122470.073695736---------string:ultrasonic检测到物体
time:1714122470.106852662---------string:ultrasonic检测到物体
time:1714122470.140665552---------string:ultrasonic检测到物体
time:1714122470.174595109---------string:ultrasonic检测到物体
time:1714122470.208902961---------string:ultrasonic检测到物体
time:1714122470.242665392---------string:ultrasonic检测到物体
time:1714122470.276760909---------string:ultrasonic检测到物体
time:1714122470.342668758---------string:ultrasonic检测到物体
time:1714122470.375648933---------string:ultrasonic检测到物体
time:1714122470.409682908---------string:ultrasonic检测到物体
time:1714122470.443715424---------string:ultrasonic检测到物体
time:1714122470.477713232---------string:ultrasonic检测到物体
time:1714122470.511633164---------string:ultrasonic检测到物体
time:1714122470.545663347---------string:ultrasonic检测到物体
time:1714122471.165487865---------string:stop!!
time:1714122471.165571574---------string:turn left
time:1714122472.494641061---------string:ultrasonic检测到物体
time:1714122472.531300639---------string:ultrasonic检测到物体
time:1714122472.561891754---------string:ultrasonic检测到物体
time:1714122472.595626476---------string:ultrasonic检测到物体
time:1714122472.629605909---------string:ultrasonic检测到物体
time:1714122472.663702301---------string:ultrasonic检测到物体
time:1714122472.697670650---------string:ultrasonic检测到物体
time:1714122473.165647355---------string:stop!!
time:1714122473.570686276---------string:ultrasonic检测到物体
time:1714122473.603646034---------string:ultrasonic检测到物体
time:1714122473.637714717---------string:ultrasonic检测到物体
time:1714122473.671706400---------string:ultrasonic检测到物体
time:1714122473.707357679---------string:ultrasonic检测到物体
time:1714122473.739722724---------string:ultrasonic检测到物体
time:1714122473.774939708---------string:ultrasonic检测到物体
time:1714122473.839730465---------string:ultrasonic检测到物体
time:1714122473.872766057---------string:ultrasonic检测到物体
time:1714122473.917421157---------string:ultrasonic检测到物体
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time:1714122474.781755840---------string:ultrasonic检测到物体
time:1714122474.815674022---------string:ultrasonic检测到物体
time:1714122474.849922082---------string:ultrasonic检测到物体
time:1714122474.915875431---------string:ultrasonic检测到物体
time:1714122474.948832273---------string:ultrasonic检测到物体
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time:1714122475.016811847---------string:ultrasonic检测到物体
time:1714122475.050749571---------string:ultrasonic检测到物体
time:1714122475.084727253---------string:ultrasonic检测到物体
time:1714122475.118716894---------string:ultrasonic检测到物体
time:1714122475.165895514---------string:turn right
time:1714122475.184783703---------string:ultrasonic检测到物体
time:1714122475.217733836---------string:ultrasonic检测到物体
time:1714122475.251758478---------string:ultrasonic检测到物体
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time:1714122475.387739209---------string:ultrasonic检测到物体
time:1714122475.453789976---------string:ultrasonic检测到物体
time:1714122475.486758484---------string:ultrasonic检测到物体
time:1714122475.520759792---------string:ultrasonic检测到物体
time:1714122475.555978234---------string:ultrasonic检测到物体
time:1714122475.588724199---------string:ultrasonic检测到物体
time:1714122475.622722590---------string:ultrasonic检测到物体
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time:1714122475.722666456---------string:ultrasonic检测到物体
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time:1714122475.790718947---------string:ultrasonic检测到物体
time:1714122475.824880090---------string:ultrasonic检测到物体
time:1714122475.859800446---------string:ultrasonic检测到物体
time:1714122475.895803770---------string:ultrasonic检测到物体
time:1714122475.930778669---------string:ultrasonic检测到物体
time:1714122477.073760159---------string:ultrasonic检测到物体
time:1714122477.106682875---------string:ultrasonic检测到物体
time:1714122477.141194020---------string:ultrasonic检测到物体
time:1714122477.165955548---------string:stop!!
time:1714122477.174740908---------string:ultrasonic检测到物体
time:1714122477.208828842---------string:ultrasonic检测到物体
time:1714122477.242769482---------string:ultrasonic检测到物体
time:1714122477.276844291---------string:ultrasonic检测到物体
time:1714122481.166120536---------string:stop!!
time:1714122481.166306621---------string:turn left
time:1714122482.924891602---------string:ultrasonic检测到物体
time:1714122482.957809943---------string:ultrasonic检测到物体
time:1714122482.991714417---------string:ultrasonic检测到物体
time:1714122483.025752767---------string:ultrasonic检测到物体
time:1714122483.059696324---------string:ultrasonic检测到物体
time:1714122483.093702882---------string:ultrasonic检测到物体
time:1714122483.130494295---------string:ultrasonic检测到物体
time:1714122483.166381826---------string:stop!!
time:1714122483.194800882---------string:ultrasonic检测到物体
time:1714122483.227844933---------string:ultrasonic检测到物体
time:1714122483.265174767---------string:ultrasonic检测到物体
time:1714122483.296699514---------string:ultrasonic检测到物体
time:1714122483.331710871---------string:ultrasonic检测到物体
time:1714122483.365757096---------string:ultrasonic检测到物体
time:1714122483.399716987---------string:ultrasonic检测到物体
time:1714122485.166638451---------string:turn right
time:1714122487.166704325---------string:stop!!
time:1714122491.166905204---------string:stop!!
time:1714122491.166990080---------string:turn left
time:1714122493.167052167---------string:stop!!
time:1714122499.167272854---------string:stop!!
time:1714122504.184398847---------string:Waiting for the move_base action server to come up
time:1714122509.184470382---------string:Waiting for the move_base action server to come up
time:1714122514.184613384---------string:Waiting for the move_base action server to come up

View File

@ -1,941 +0,0 @@
time:1714122625.576725209---------string:0
time:1714122625.888540331---------string:Sending goal with eps
time:1714122625.888592540---------string:0.000000
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time:1714122645.737328284---------string:transform1178行
time:1714122645.887511260---------string:transform1178行
time:1714122646.037687818---------string:transform1178行
time:1714122646.187953336---------string:transform1178行
time:1714122646.338149437---------string:transform1178行
time:1714122646.488324537---------string:transform1178行
time:1714122646.638507513---------string:transform1178行
time:1714122646.788701280---------string:transform1178行
time:1714122646.938882506---------string:transform1178行
time:1714122647.089052648---------string:transform1178行
time:1714122647.239244082---------string:transform1178行
time:1714122647.389419766---------string:transform1178行
time:1714122647.539703951---------string:transform1178行
time:1714122647.690095470---------string:transform1178行
time:1714122647.840463072---------string:transform1178行
time:1714122647.990799465---------string:transform1178行
time:1714122648.141122733---------string:transform1178行
time:1714122648.291471377---------string:transform1178行
time:1714122648.441820896---------string:transform1178行
time:1714122648.592152914---------string:transform1178行
time:1714122648.743377440---------string:transform1178行
time:1714122648.893728708---------string:transform1178行
time:1714122649.044120811---------string:transform1178行
time:1714122649.194486371---------string:transform1178行
time:1714122649.344832098---------string:transform1178行
time:1714122649.495061741---------string:transform1178行
time:1714122649.645234508---------string:transform1178行
time:1714122649.795578777---------string:transform1178行
time:1714122649.946024838---------string:transform1178行
time:1714122650.096415482---------string:transform1178行
time:1714122650.246761209---------string:transform1178行
time:1714122650.397007477---------string:transform1178行
time:1714122650.547186369---------string:transform1178行
time:1714122650.697362345---------string:transform1178行
time:1714122650.847544445---------string:transform1178行
time:1714122650.997745796---------string:transform1178行
time:1714122651.147992356---------string:transform1178行
time:1714122651.298210624---------string:transform1178行
time:1714122651.448398266---------string:transform1178行
time:1714122651.598574533---------string:transform1178行
time:1714122651.748754884---------string:transform1178行
time:1714122651.898931152---------string:transform1178行
time:1714122652.049118794---------string:transform1178行
time:1714122652.199367395---------string:transform1178行
time:1714122652.349679872---------string:transform1178行
time:1714122652.500015391---------string:transform1178行
time:1714122652.500232393---------string:current goal could be reached.
time:1714122652.513233828---------string:0.000000
time:1714122652.513340579---------string:1
time:1714122652.803034363---------string:Sending goal with eps
time:1714122652.803173198---------string:0.968750
time:1714122653.274146828---------string:transform1178行
time:1714122653.274223245---------string:current goal could be reached.
time:1714122653.310374155---------string:0.968750
time:1714122653.310498115---------string:2
time:1714122653.708070624---------string:Sending goal with eps
time:1714122653.708233959---------string:1.000000
time:1714122654.110222920---------string:transform1178行
time:1714122654.110409880---------string:current goal could be reached.
time:1714122654.217193389---------string:1.000000
time:1714122654.217247056---------string:3
time:1714122654.496702384---------string:Sending goal with eps
time:1714122654.496765093---------string:1.000000
time:1714122654.933410161---------string:transform1178行
time:1714122654.933497079---------string:current goal could be reached.
time:1714122655.011393984---------string:1.000000
time:1714122655.011617986---------string:4
time:1714122655.307951615---------string:Sending goal with eps
time:1714122655.308006740---------string:1.000000
time:1714122655.729462272---------string:transform1178行
time:1714122655.729545981---------string:current goal could be reached.
time:1714122655.809577028---------string:1.000000
time:1714122655.809716738---------string:5
time:1714122656.105913282---------string:Sending goal with eps
time:1714122656.105981241---------string:1.000000
time:1714122656.540211873---------string:transform1178行
time:1714122656.540408166---------string:current goal could be reached.
time:1714122656.609132667---------string:1.000000
time:1714122656.609185459---------string:6
time:1714122656.905945799---------string:Sending goal with eps
time:1714122656.906082592---------string:1.000000
time:1714122657.356687812---------string:transform1178行
time:1714122657.507602877---------string:transform1178行
time:1714122657.657787603---------string:transform1178行
time:1714122657.808015204---------string:transform1178行
time:1714122657.958254181---------string:transform1178行
time:1714122657.958465057---------string:current goal could be reached.
time:1714122658.009713045---------string:1.000000
time:1714122658.009829712---------string:7
time:1714122658.315522998---------string:Sending goal with eps
time:1714122658.315577249---------string:1.000000
time:1714122658.746897608---------string:transform1178行
time:1714122658.897190835---------string:transform1178行
time:1714122659.047432728---------string:transform1178行
time:1714122659.197723914---------string:transform1178行
time:1714122659.350367993---------string:transform1178行
time:1714122659.350564286---------string:current goal could be reached.
time:1714122659.409853003---------string:1.000000
time:1714122659.409963254---------string:8
time:1714122659.739520895---------string:Sending goal with eps
time:1714122659.739575729---------string:1.000000
time:1714122660.221521363---------string:transform1178行
time:1714122660.371703756---------string:transform1178行
time:1714122660.521869232---------string:transform1178行
time:1714122660.672079916---------string:transform1178行
time:1714122660.822395893---------string:transform1178行
time:1714122660.972759996---------string:transform1178行
time:1714122660.972955706---------string:current goal could be reached.
time:1714122661.009327409---------string:1.000000
time:1714122661.009447285---------string:9
time:1714122661.305703039---------string:Sending goal with eps
time:1714122661.305853540---------string:1.000000
time:1714122661.763786651---------string:transform1178行
time:1714122661.914123921---------string:transform1178行
time:1714122662.064457981---------string:transform1178行
time:1714122662.214796125---------string:transform1178行
time:1714122662.365376646---------string:transform1178行
time:1714122662.515659957---------string:transform1178行
time:1714122662.515756207---------string:current goal could be reached.
time:1714122662.611888549---------string:1.000000
time:1714122662.612013675---------string:10
time:1714122662.941307939---------string:Sending goal with eps
time:1714122662.941500440---------string:1.000000
time:1714122663.423470283---------string:transform1178行
time:1714122663.573650343---------string:transform1178行
time:1714122663.723820486---------string:transform1178行
time:1714122663.873990629---------string:transform1178行
time:1714122664.024180605---------string:transform1178行
time:1714122664.024282981---------string:current goal could be reached.
time:1714122664.110695162---------string:1.000000
time:1714122664.110815330---------string:11
time:1714122664.372578311---------string:Sending goal with eps
time:1714122664.372737854---------string:1.000000
time:1714122664.795259437---------string:transform1178行
time:1714122664.945445622---------string:transform1178行
time:1714122665.095642598---------string:transform1178行
time:1714122665.245829658---------string:transform1178行
time:1714122665.396667722---------string:transform1178行
time:1714122665.546868199---------string:transform1178行
time:1714122665.697053800---------string:transform1178行
time:1714122665.847237652---------string:transform1178行
time:1714122665.847323986---------string:current goal could be reached.
time:1714122665.908246924---------string:1.000000
time:1714122665.908378175---------string:12
time:1714122666.108100543---------string:Sending goal with eps
time:1714122666.108237335---------string:1.000000
time:1714122666.534357822---------string:transform1178行
time:1714122666.684529423---------string:transform1178行
time:1714122666.834715899---------string:transform1178行
time:1714122666.985084960---------string:transform1178行
time:1714122667.135328604---------string:transform1178行
time:1714122667.285540164---------string:transform1178行
time:1714122667.285631165---------string:current goal could be reached.
time:1714122667.310405527---------string:1.000000
time:1714122667.310557486---------string:13
time:1714122667.610221392---------string:Sending goal with eps
time:1714122667.610280601---------string:1.000000
time:1714122668.085544100---------string:transform1178行
time:1714122668.235723868---------string:transform1178行
time:1714122668.385900719---------string:transform1178行
time:1714122668.536075821---------string:transform1178行
time:1714122668.686255880---------string:transform1178行
time:1714122668.836448773---------string:transform1178行
time:1714122668.836541524---------string:current goal could be reached.
time:1714122668.910203980---------string:1.000000
time:1714122668.910328231---------string:14
time:1714122669.307979493---------string:Sending goal with eps
time:1714122669.308035202---------string:0.719416
time:1714122669.778348496---------string:transform1178行
time:1714122669.928513389---------string:transform1178行
time:1714122670.078871367---------string:transform1178行
time:1714122670.229057260---------string:transform1178行
time:1714122670.379245195---------string:transform1178行
time:1714122670.529518880---------string:transform1178行
time:1714122670.679706815---------string:transform1178行
time:1714122670.829950750---------string:transform1178行
time:1714122670.980164935---------string:transform1178行
time:1714122671.130923375---------string:transform1178行
time:1714122671.281114226---------string:transform1178行
time:1714122671.431289911---------string:transform1178行
time:1714122671.431367787---------string:current goal could be reached.
time:1714122671.510069699---------string:0.719416
time:1714122671.510119283---------string:15
time:1714122671.736014274---------string:Sending goal with eps
time:1714122671.736147566---------string:0.343084
time:1714122672.169015523---------string:transform1178行
time:1714122672.319269959---------string:transform1178行
time:1714122672.469463435---------string:transform1178行
time:1714122672.619632412---------string:transform1178行
time:1714122672.769844847---------string:transform1178行
time:1714122672.920042990---------string:transform1178行
time:1714122673.070248717---------string:transform1178行
time:1714122673.220426152---------string:transform1178行
time:1714122673.370756713---------string:transform1178行
time:1714122673.521259067---------string:transform1178行
time:1714122673.672338343---------string:transform1178行
time:1714122673.822707404---------string:transform1178行
time:1714122673.973037965---------string:transform1178行
time:1714122674.123353068---------string:transform1178行
time:1714122674.274195800---------string:transform1178行
time:1714122674.427766803---------string:transform1178行
time:1714122674.578140240---------string:transform1178行
time:1714122674.728529426---------string:transform1178行
time:1714122674.878761987---------string:transform1178行
time:1714122674.878847154---------string:current goal could be reached.
time:1714122674.909552896---------string:0.343084
time:1714122674.909747731---------string:16
time:1714122675.258394232---------string:Sending goal with eps
time:1714122675.258526066---------string:-0.200000
time:1714122675.729702701---------string:transform1178行
time:1714122675.879961803---------string:transform1178行
time:1714122676.030176864---------string:transform1178行
time:1714122676.180399799---------string:transform1178行
time:1714122676.330579859---------string:transform1178行
time:1714122676.480761669---------string:transform1178行
time:1714122676.630936479---------string:transform1178行
time:1714122676.781113622---------string:transform1178行
time:1714122676.931279391---------string:transform1178行
time:1714122677.081455367---------string:transform1178行
time:1714122677.231621427---------string:transform1178行
time:1714122677.381801487---------string:transform1178行
time:1714122677.531987381---------string:transform1178行
time:1714122677.682176774---------string:transform1178行
time:1714122677.832531252---------string:transform1178行
time:1714122677.982886022---------string:transform1178行
time:1714122678.133213375---------string:transform1178行
time:1714122678.283579520---------string:transform1178行
time:1714122678.433815872---------string:transform1178行
time:1714122678.584001766---------string:transform1178行
time:1714122678.734194659---------string:transform1178行
time:1714122678.884377636---------string:transform1178行
time:1714122679.034807365---------string:transform1178行
time:1714122679.184994717---------string:transform1178行
time:1714122679.335169818---------string:transform1178行
time:1714122679.485360670---------string:transform1178行
time:1714122679.635548314---------string:transform1178行
time:1714122679.785732749---------string:transform1178行
time:1714122679.785824625---------string:current goal could be reached.
time:1714122679.809813814---------string:-0.200000
time:1714122679.809929023---------string:17
time:1714122680.104346972---------string:Sending goal with eps
time:1714122680.104405306---------string:0.937500
time:1714122680.564174184---------string:transform1178行
time:1714122680.564352102---------string:current goal could be reached.
time:1714122680.608871870---------string:0.937500
time:1714122680.608999621---------string:18
time:1714122680.907893230---------string:Sending goal with eps
time:1714122680.908164482---------string:1.000000
time:1714122681.311457790---------string:transform1178行
time:1714122681.311549957---------string:current goal could be reached.
time:1714122681.414114767---------string:1.000000
time:1714122681.414168434---------string:19
time:1714122681.717333826---------string:Sending goal with eps
time:1714122681.717389535---------string:1.000000
time:1714122682.170241776---------string:transform1178行
time:1714122682.170321401---------string:current goal could be reached.
time:1714122682.212228982---------string:1.000000
time:1714122682.212284691---------string:20
time:1714122682.507902274---------string:Sending goal with eps
time:1714122682.507958566---------string:1.000000
time:1714122682.932479833---------string:transform1178行
time:1714122683.082673310---------string:transform1178行
time:1714122683.232849287---------string:transform1178行
time:1714122683.383052098---------string:transform1178行
time:1714122683.533220491---------string:transform1178行
time:1714122683.683470552---------string:transform1178行
time:1714122683.833677446---------string:transform1178行
time:1714122683.983877923---------string:transform1178行
time:1714122684.134075192---------string:transform1178行
time:1714122684.284310378---------string:transform1178行
time:1714122684.434712981---------string:transform1178行
time:1714122684.585078835---------string:transform1178行
time:1714122684.585280086---------string:current goal could be reached.
time:1714122684.610172575---------string:1.000000
time:1714122684.610288950---------string:21
time:1714122684.958852327---------string:Sending goal with eps
time:1714122684.958908327---------string:1.000000
time:1714122685.411619109---------string:transform1178行
time:1714122685.561949670---------string:transform1178行
time:1714122685.712307357---------string:transform1178行
time:1714122685.862740294---------string:transform1178行
time:1714122686.013306524---------string:transform1178行
time:1714122686.163654294---------string:transform1178行
time:1714122686.163847379---------string:current goal could be reached.
time:1714122686.207616100---------string:1.000000
time:1714122686.207664225---------string:22
time:1714122686.504633694---------string:Sending goal with eps
time:1714122686.504698736---------string:1.000000
time:1714122686.955412461---------string:transform1178行
time:1714122687.105756439---------string:transform1178行
time:1714122687.256073876---------string:transform1178行
time:1714122687.407797448---------string:transform1178行
time:1714122687.558168844---------string:transform1178行
time:1714122687.708506989---------string:transform1178行
time:1714122687.708705032---------string:current goal could be reached.
time:1714122687.809907456---------string:1.000000
time:1714122687.809961414---------string:23
time:1714122688.106883633---------string:Sending goal with eps
time:1714122688.107014884---------string:1.000000
time:1714122688.572083097---------string:transform1178行
time:1714122688.722416575---------string:transform1178行
time:1714122688.872750345---------string:transform1178行
time:1714122689.023158783---------string:transform1178行
time:1714122689.173685346---------string:transform1178行
time:1714122689.324037200---------string:transform1178行
time:1714122689.474374178---------string:transform1178行
time:1714122689.474561721---------string:current goal could be reached.
time:1714122689.511046301---------string:1.000000
time:1714122689.511155677---------string:24
time:1714122689.863631792---------string:Sending goal with eps
time:1714122689.863757210---------string:1.000000
time:1714122690.302343339---------string:transform1178行
time:1714122690.452757026---------string:transform1178行
time:1714122690.603117922---------string:transform1178行
time:1714122690.753523734---------string:transform1178行
time:1714122690.903864504---------string:transform1178行
time:1714122690.904067214---------string:current goal could be reached.
time:1714122691.012099942---------string:1.000000
time:1714122691.012220110---------string:25
time:1714122691.106663397---------string:ultrasonic检测到物体
time:1714122691.138458231---------string:ultrasonic检测到物体
time:1714122691.172504167---------string:ultrasonic检测到物体
time:1714122691.206431101---------string:ultrasonic检测到物体
time:1714122691.240616163---------string:ultrasonic检测到物体
time:1714122691.274486222---------string:ultrasonic检测到物体
time:1714122691.313230069---------string:ultrasonic检测到物体
time:1714122691.313598739---------string:Sending goal with eps
time:1714122691.313657364---------string:1.000000
time:1714122691.379252841---------string:ultrasonic检测到物体
time:1714122691.411543512---------string:ultrasonic检测到物体
time:1714122691.458590592---------string:ultrasonic检测到物体
time:1714122691.492600944---------string:ultrasonic检测到物体
time:1714122691.526612171---------string:ultrasonic检测到物体
time:1714122691.569667177---------string:ultrasonic检测到物体
time:1714122691.595455381---------string:ultrasonic检测到物体
time:1714122691.643529135---------string:ultrasonic检测到物体
time:1714122691.678403410---------string:ultrasonic检测到物体
time:1714122691.710448497---------string:ultrasonic检测到物体
time:1714122691.744467599---------string:ultrasonic检测到物体
time:1714122691.778493992---------string:ultrasonic检测到物体
time:1714122691.804430072---------string:transform1178行
time:1714122691.819004479---------string:ultrasonic检测到物体
time:1714122691.846538613---------string:ultrasonic检测到物体
time:1714122691.912638968---------string:ultrasonic检测到物体
time:1714122691.953008870---------string:ultrasonic检测到物体
time:1714122691.957199278---------string:transform1178行
time:1714122691.980458420---------string:ultrasonic检测到物体
time:1714122692.013426055---------string:ultrasonic检测到物体
time:1714122692.047611117---------string:ultrasonic检测到物体
time:1714122692.094196485---------string:ultrasonic检测到物体
time:1714122692.107583799---------string:transform1178行
time:1714122692.115584279---------string:ultrasonic检测到物体
time:1714122692.181416590---------string:ultrasonic检测到物体
time:1714122692.214521601---------string:ultrasonic检测到物体
time:1714122692.248467494---------string:ultrasonic检测到物体
time:1714122692.257933611---------string:transform1178行
time:1714122692.282441971---------string:ultrasonic检测到物体
time:1714122692.316548865---------string:ultrasonic检测到物体
time:1714122692.352866027---------string:ultrasonic检测到物体
time:1714122692.384463401---------string:ultrasonic检测到物体
time:1714122692.408425757---------string:transform1178行
time:1714122692.450453506---------string:ultrasonic检测到物体
time:1714122692.483462266---------string:ultrasonic检测到物体
time:1714122692.517434993---------string:ultrasonic检测到物体
time:1714122692.551396052---------string:ultrasonic检测到物体
time:1714122692.558748444---------string:transform1178行
time:1714122692.558935404---------string:current goal could be reached.
time:1714122692.585475530---------string:ultrasonic检测到物体
time:1714122692.617951703---------string:1.000000
time:1714122692.618083829---------string:26
time:1714122692.618190288---------string:stop!!
time:1714122692.618276039---------string:turn right
time:1714122692.619428131---------string:ultrasonic检测到物体
time:1714122692.653438775---------string:ultrasonic检测到物体
time:1714122692.989332927---------string:ultrasonic检测到物体
time:1714122693.022442021---------string:ultrasonic检测到物体
time:1714122693.056384414---------string:ultrasonic检测到物体
time:1714122693.090432975---------string:ultrasonic检测到物体
time:1714122693.125947755---------string:ultrasonic检测到物体
time:1714122693.158408761---------string:ultrasonic检测到物体
time:1714122693.192383821---------string:ultrasonic检测到物体
time:1714122694.618312871---------string:stop!!
time:1714122698.618469080---------string:stop!!
time:1714122698.618664498---------string:turn left
time:1714122700.618736917---------string:stop!!
time:1714122706.619065012---------string:stop!!
time:1714122707.005274104---------string:Sending goal with eps
time:1714122707.005328646---------string:1.000000
time:1714122707.454495944---------string:transform1178行
time:1714122707.454692237---------string:current goal could be reached.
time:1714122707.484710516---------string:ultrasonic检测到物体
time:1714122707.514141082---------string:1.000000
time:1714122707.514259208---------string:28
time:1714122707.514338541---------string:stop!!
time:1714122707.514399500---------string:turn right
time:1714122707.516504475---------string:ultrasonic检测到物体
time:1714122707.550454743---------string:ultrasonic检测到物体
time:1714122707.584530429---------string:ultrasonic检测到物体
time:1714122707.622000850---------string:ultrasonic检测到物体
time:1714122707.653497891---------string:ultrasonic检测到物体
time:1714122707.687472076---------string:ultrasonic检测到物体
time:1714122707.753533931---------string:ultrasonic检测到物体
time:1714122707.786548233---------string:ultrasonic检测到物体
time:1714122707.820475168---------string:ultrasonic检测到物体
time:1714122707.854734022---------string:ultrasonic检测到物体
time:1714122707.888541955---------string:ultrasonic检测到物体
time:1714122707.922588183---------string:ultrasonic检测到物体
time:1714122707.956569368---------string:ultrasonic检测到物体
time:1714122708.302660560---------string:ultrasonic检测到物体
time:1714122708.335498402---------string:ultrasonic检测到物体
time:1714122708.369500879---------string:ultrasonic检测到物体
time:1714122708.403547982---------string:ultrasonic检测到物体
time:1714122708.438543591---------string:ultrasonic检测到物体
time:1714122708.472522443---------string:ultrasonic检测到物体
time:1714122708.507519803---------string:ultrasonic检测到物体
time:1714122708.574586749---------string:ultrasonic检测到物体
time:1714122708.607657927---------string:ultrasonic检测到物体
time:1714122708.641601487---------string:ultrasonic检测到物体
time:1714122708.677886565---------string:ultrasonic检测到物体
time:1714122708.710726158---------string:ultrasonic检测到物体
time:1714122708.743549417---------string:ultrasonic检测到物体
time:1714122708.777555686---------string:ultrasonic检测到物体
time:1714122709.514469006---------string:stop!!
time:1714122713.514711564---------string:stop!!
time:1714122713.514796439---------string:turn left
time:1714122715.514874407---------string:stop!!
time:1714122718.038609304---------string:ultrasonic检测到物体
time:1714122718.071570231---------string:ultrasonic检测到物体
time:1714122718.105610333---------string:ultrasonic检测到物体
time:1714122718.139675227---------string:ultrasonic检测到物体
time:1714122718.173607704---------string:ultrasonic检测到物体
time:1714122718.207605806---------string:ultrasonic检测到物体
time:1714122718.241585532---------string:ultrasonic检测到物体
time:1714122718.307575345---------string:ultrasonic检测到物体
time:1714122718.340617648---------string:ultrasonic检测到物体
time:1714122718.374619250---------string:ultrasonic检测到物体
time:1714122718.408705144---------string:ultrasonic检测到物体
time:1714122718.443748296---------string:ultrasonic检测到物体
time:1714122718.477660064---------string:ultrasonic检测到物体
time:1714122718.511675375---------string:ultrasonic检测到物体
time:1714122718.577699021---------string:ultrasonic检测到物体
time:1714122718.611043785---------string:ultrasonic检测到物体
time:1714122718.644592717---------string:ultrasonic检测到物体
time:1714122718.678669861---------string:ultrasonic检测到物体
time:1714122718.712751672---------string:ultrasonic检测到物体
time:1714122718.750175134---------string:ultrasonic检测到物体
time:1714122718.782944435---------string:ultrasonic检测到物体
time:1714122718.846736230---------string:ultrasonic检测到物体
time:1714122718.885022158---------string:ultrasonic检测到物体
time:1714122718.913573633---------string:ultrasonic检测到物体
time:1714122718.947617527---------string:ultrasonic检测到物体
time:1714122718.982701805---------string:ultrasonic检测到物体
time:1714122719.016863533---------string:ultrasonic检测到物体
time:1714122719.050623341---------string:ultrasonic检测到物体
time:1714122719.116544029---------string:ultrasonic检测到物体
time:1714122719.149537039---------string:ultrasonic检测到物体
time:1714122719.183627309---------string:ultrasonic检测到物体
time:1714122719.217517785---------string:ultrasonic检测到物体
time:1714122719.251757389---------string:ultrasonic检测到物体
time:1714122719.285647573---------string:ultrasonic检测到物体
time:1714122719.319565758---------string:ultrasonic检测到物体
time:1714122719.385608655---------string:ultrasonic检测到物体
time:1714122719.418546540---------string:ultrasonic检测到物体
time:1714122719.452606184---------string:ultrasonic检测到物体
time:1714122719.485658404---------string:ultrasonic检测到物体
time:1714122719.520542012---------string:ultrasonic检测到物体
time:1714122719.554556448---------string:ultrasonic检测到物体
time:1714122719.588557758---------string:ultrasonic检测到物体
time:1714122719.653596730---------string:ultrasonic检测到物体
time:1714122719.686683659---------string:ultrasonic检测到物体
time:1714122719.720545843---------string:ultrasonic检测到物体
time:1714122719.754647779---------string:ultrasonic检测到物体
time:1714122719.788559547---------string:ultrasonic检测到物体
time:1714122719.822579232---------string:ultrasonic检测到物体
time:1714122719.856565959---------string:ultrasonic检测到物体
time:1714122719.922558981---------string:ultrasonic检测到物体
time:1714122719.955611492---------string:ultrasonic检测到物体
time:1714122719.989613969---------string:ultrasonic检测到物体
time:1714122720.023608279---------string:ultrasonic检测到物体
time:1714122720.057654215---------string:ultrasonic检测到物体
time:1714122720.091697817---------string:ultrasonic检测到物体
time:1714122720.125600543---------string:ultrasonic检测到物体
time:1714122720.191613690---------string:ultrasonic检测到物体
time:1714122720.224637034---------string:ultrasonic检测到物体
time:1714122720.258590802---------string:ultrasonic检测到物体
time:1714122720.292552154---------string:ultrasonic检测到物体
time:1714122720.326624632---------string:ultrasonic检测到物体
time:1714122720.360559150---------string:ultrasonic检测到物体
time:1714122720.394614127---------string:ultrasonic检测到物体
time:1714122720.463830674---------string:ultrasonic检测到物体
time:1714122720.495724676---------string:ultrasonic检测到物体
time:1714122720.527684012---------string:ultrasonic检测到物体
time:1714122720.561588196---------string:ultrasonic检测到物体
time:1714122720.595683132---------string:ultrasonic检测到物体
time:1714122720.629577692---------string:ultrasonic检测到物体
time:1714122720.663579877---------string:ultrasonic检测到物体
time:1714122721.001638798---------string:ultrasonic检测到物体
time:1714122721.034647268---------string:ultrasonic检测到物体
time:1714122721.068705453---------string:ultrasonic检测到物体
time:1714122721.103678313---------string:ultrasonic检测到物体
time:1714122721.138647673---------string:ultrasonic检测到物体
time:1714122721.172636733---------string:ultrasonic检测到物体
time:1714122721.207671718---------string:ultrasonic检测到物体
time:1714122721.515990321---------string:stop!!
time:1714122721.816872240---------string:Sending goal with eps
time:1714122721.817004658---------string:1.000000
time:1714122722.282911423---------string:transform1178行
time:1714122722.433093818---------string:transform1178行
time:1714122722.583340671---------string:transform1178行
time:1714122722.733556608---------string:transform1178行
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time:1714122723.033933065---------string:transform1178行
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time:1714122723.634696771---------string:transform1178行
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time:1714122724.085221206---------string:transform1178行
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time:1714122724.535744183---------string:transform1178行
time:1714122724.685882536---------string:transform1178行
time:1714122724.836384017---------string:transform1178行
time:1714122724.986987582---------string:transform1178行
time:1714122725.137379979---------string:transform1178行
time:1714122725.287703833---------string:transform1178行
time:1714122725.438142314---------string:transform1178行
time:1714122725.588385376---------string:transform1178行
time:1714122725.738561938---------string:transform1178行
time:1714122725.888736166---------string:transform1178行
time:1714122726.038903395---------string:transform1178行
time:1714122726.038987396---------string:current goal could be reached.
time:1714122726.112782270---------string:1.000000
time:1714122726.112893396---------string:30
time:1714122726.112970689---------string:stop!!
time:1714122726.113030189---------string:turn right
time:1714122728.113092995---------string:stop!!
time:1714122732.113250111---------string:stop!!
time:1714122732.113348987---------string:turn left
time:1714122734.113412379---------string:stop!!
time:1714122740.113622686---------string:stop!!
time:1714122740.408600935---------string:Sending goal with eps
time:1714122740.408736270---------string:0.250000
time:1714122740.887042759---------string:transform1178行
time:1714122741.037233030---------string:transform1178行
time:1714122741.187402592---------string:transform1178行
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