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Patroller battery charge issue
Raw
patroller-1.log
[rospy.client][INFO] 2013-08-21 15:40:19,154: init_node, name[/patroller], pid[15325]
[xmlrpc][INFO] 2013-08-21 15:40:19,155: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2013-08-21 15:40:19,156: Started XML-RPC server [http://bob:42892/]
[rospy.impl.masterslave][INFO] 2013-08-21 15:40:19,157: _ready: http://bob:42892/
[rospy.registration][INFO] 2013-08-21 15:40:19,158: Registering with master node http://localhost:11311
[rospy.init][INFO] 2013-08-21 15:40:19,158: ROS Slave URI: [http://bob:42892/]
[xmlrpc][INFO] 2013-08-21 15:40:19,158: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2013-08-21 15:40:19,159: registered with master
[rospy.rosout][INFO] 2013-08-21 15:40:19,160: initializing /rosout core topic
[rospy.rosout][INFO] 2013-08-21 15:40:19,167: connected to core topic /rosout
[rospy.simtime][INFO] 2013-08-21 15:40:19,171: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rosout][INFO] 2013-08-21 15:40:19,180: Executing waypoint_patroller with random point selection.
[rosout][INFO] 2013-08-21 15:40:19,180: Executing waypoint_patroller with infinite iterations
[rosout][ERROR] 2013-08-21 15:40:19,181: Error raised during SMACH container construction:
Traceback (most recent call last):
File "/opt/strands/strands_catkin_ws/src/autonomous_patrolling/waypoint_patroller/scripts/long_term_patroller.py", line 135, in main
smach.StateMachine.add('POINT_CHOOSER', PointChooser(waypoints_name,is_random,n_iterations), transitions={'patrol':'PATROL_POINT','go_charge':'GO_TO_CHARGING_STATION','succeeded':'succeeded'})
File "/opt/strands/strands_catkin_ws/src/autonomous_patrolling/waypoint_patroller/scripts/long_term_patroller.py", line 36, in __init__
with open(waypoints_name, 'rb') as csvfile:
IOError: [Errno 2] No such file or directory: '/opt/lg-20130821/waypoints.csv'
[rospy.core][INFO] 2013-08-21 15:40:19,306: signal_shutdown [atexit]
[rospy.impl.masterslave][INFO] 2013-08-21 15:40:19,315: atexit
[rospy.client][INFO] 2013-08-21 15:41:03,424: init_node, name[/patroller], pid[15575]
[xmlrpc][INFO] 2013-08-21 15:41:03,425: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2013-08-21 15:41:03,426: Started XML-RPC server [http://bob:48250/]
[rospy.init][INFO] 2013-08-21 15:41:03,426: ROS Slave URI: [http://bob:48250/]
[rospy.impl.masterslave][INFO] 2013-08-21 15:41:03,426: _ready: http://bob:48250/
[rospy.registration][INFO] 2013-08-21 15:41:03,427: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2013-08-21 15:41:03,427: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2013-08-21 15:41:03,527: registered with master
[rospy.rosout][INFO] 2013-08-21 15:41:03,527: initializing /rosout core topic
[rospy.rosout][INFO] 2013-08-21 15:41:03,534: connected to core topic /rosout
[rospy.simtime][INFO] 2013-08-21 15:41:03,538: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rosout][INFO] 2013-08-21 15:41:03,547: Executing waypoint_patroller with random point selection.
[rosout][INFO] 2013-08-21 15:41:03,547: Executing waypoint_patroller with infinite iterations
[rospy.internal][INFO] 2013-08-21 15:41:03,600: topic[/move_base/status] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,612: topic[/battery_state] adding connection to [http://bob:45684/], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,623: topic[/move_base/feedback] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,623: topic[/move_base/result] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,629: topic[/motor_status] adding connection to [http://bob:45684/], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,643: topic[/chargingServer/status] adding connection to [http://bob:44592/], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,644: topic[/chargingServer/feedback] adding connection to [http://bob:44592/], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,645: topic[/chargingServer/result] adding connection to [http://bob:44592/], count 0
[rosout][INFO] 2013-08-21 15:41:03,660: State machine starting in initial state 'POINT_CHOOSER' with userdata:
[]
[rospy.internal][INFO] 2013-08-21 15:41:03,780: topic[/move_base/goal] adding connection to [/move_base], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,785: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,879: topic[/cmd_vel] adding connection to [/scitos_node], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,880: topic[/move_base/cancel] adding connection to [/move_base], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,886: topic[/chargingServer/goal] adding connection to [/charging], count 0
[rospy.internal][INFO] 2013-08-21 15:41:03,887: topic[/chargingServer/cancel] adding connection to [/charging], count 0
[rosout][INFO] 2013-08-21 15:41:04,662: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:41:04,664: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:41:04,666: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:41:04,670: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:41:22,077: State machine transitioning 'MOVE_BASE':'aborted'-->'RECOVER_MOVE_BASE'
[rosout][INFO] 2013-08-21 15:41:26,091: State machine transitioning 'RECOVER_MOVE_BASE':'succeeded'-->'MOVE_BASE'
[rospy.client][INFO] 2013-08-21 15:42:00,427: init_node, name[/patroller], pid[15947]
[xmlrpc][INFO] 2013-08-21 15:42:00,428: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2013-08-21 15:42:00,429: Started XML-RPC server [http://bob:43299/]
[rospy.init][INFO] 2013-08-21 15:42:00,429: ROS Slave URI: [http://bob:43299/]
[rospy.impl.masterslave][INFO] 2013-08-21 15:42:00,429: _ready: http://bob:43299/
[xmlrpc][INFO] 2013-08-21 15:42:00,430: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2013-08-21 15:42:00,431: Registering with master node http://localhost:11311
[rospy.init][INFO] 2013-08-21 15:42:00,529: registered with master
[rospy.rosout][INFO] 2013-08-21 15:42:00,530: initializing /rosout core topic
[rospy.rosout][INFO] 2013-08-21 15:42:00,538: connected to core topic /rosout
[rospy.simtime][INFO] 2013-08-21 15:42:00,542: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rosout][INFO] 2013-08-21 15:42:00,551: Executing waypoint_patroller with random point selection.
[rosout][INFO] 2013-08-21 15:42:00,551: Executing waypoint_patroller with infinite iterations
[rospy.internal][INFO] 2013-08-21 15:42:00,623: topic[/move_base/status] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,624: topic[/motor_status] adding connection to [http://bob:45684/], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,625: topic[/move_base/feedback] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,627: topic[/battery_state] adding connection to [http://bob:45684/], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,630: topic[/move_base/result] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,648: topic[/chargingServer/status] adding connection to [http://bob:44592/], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,656: topic[/chargingServer/result] adding connection to [http://bob:44592/], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,658: topic[/chargingServer/feedback] adding connection to [http://bob:44592/], count 0
[rosout][INFO] 2013-08-21 15:42:00,700: State machine starting in initial state 'POINT_CHOOSER' with userdata:
[]
[rospy.internal][INFO] 2013-08-21 15:42:00,785: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,792: topic[/chargingServer/goal] adding connection to [/charging], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,794: topic[/cmd_vel] adding connection to [/scitos_node], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,821: topic[/move_base/goal] adding connection to [/move_base], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,821: topic[/move_base/cancel] adding connection to [/move_base], count 0
[rospy.internal][INFO] 2013-08-21 15:42:00,894: topic[/chargingServer/cancel] adding connection to [/charging], count 0
[rosout][INFO] 2013-08-21 15:42:01,702: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:42:01,704: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:42:01,706: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:42:01,709: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:42:36,316: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:42:36,317: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:42:36,319: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:42:36,320: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:42:36,321: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:42:36,324: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:42:36,325: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:42:37,328: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:42:37,329: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:42:37,330: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:42:37,333: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:43:05,339: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:43:05,340: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:43:05,342: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:43:05,342: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:43:05,345: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:43:05,348: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:43:05,350: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:43:06,352: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:43:06,354: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:43:06,356: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:43:06,359: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:43:47,466: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:43:47,467: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:43:47,469: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:43:47,469: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:43:47,471: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:43:47,474: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:43:47,474: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:43:48,477: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:43:48,479: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:43:48,480: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:43:48,483: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:44:54,988: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:44:54,990: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:44:54,992: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:44:54,994: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:44:54,996: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:44:54,998: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:44:55,000: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:44:56,001: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:44:56,003: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:44:56,005: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:44:56,008: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:45:57,812: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:45:57,812: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:45:57,813: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:45:57,813: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:45:57,814: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:45:57,814: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:45:57,814: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:45:58,816: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:45:58,817: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:45:58,818: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:45:58,821: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:46:34,132: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:46:34,133: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:46:34,135: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:46:34,137: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:46:34,139: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:46:34,140: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:46:34,141: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:46:35,144: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:46:35,145: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:46:35,146: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:46:35,149: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:47:12,555: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:47:12,556: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:47:12,558: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:47:12,559: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:47:12,560: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:47:12,563: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:47:12,564: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:47:13,566: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:47:13,568: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:47:13,570: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:47:13,573: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:47:46,179: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:47:46,180: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:47:46,182: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:47:46,183: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:47:46,185: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:47:46,188: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:47:46,189: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:47:47,192: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:47:47,194: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:47:47,195: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:47:47,198: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:48:47,401: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:48:47,401: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:48:47,402: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:48:47,402: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:48:47,403: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:48:47,403: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:48:47,402: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][ERROR] 2013-08-21 15:48:47,426: InvalidUserCodeError: Could not execute child termination callback: Traceback (most recent call last):
File "/opt/strands/strands_catkin_ws/src/catkinized_smach/smach/src/smach/concurrence.py", line 348, in _state_runner
preempt_others = self._child_termination_cb(self._child_outcomes)
File "/opt/strands/strands_catkin_ws/src/autonomous_patrolling/waypoint_patroller/scripts/navigation.py", line 28, in child_term_cb
if outcome_map['BUMPER_MONITOR'] == 'invalid' or outcome_map["BATTERY_MONITOR"]=="invalid" or outcome_map["MOVE_BASE_SM"]=="succeeded" or outcome_map['MOVE_BASE_SM']=="failure":
KeyError: 'BUMPER_MONITOR'
[rosout][INFO] 2013-08-21 15:48:48,404: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:48:48,407: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:48:48,408: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:48:48,412: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:49:20,116: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:49:20,117: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:49:20,120: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:49:20,122: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:49:20,122: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:49:20,125: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:49:20,126: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:49:21,128: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:49:21,130: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:49:21,131: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:49:21,134: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:49:53,339: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:49:53,340: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:49:53,342: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:49:53,343: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:49:53,345: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:49:53,347: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:49:53,348: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:49:54,350: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:49:54,352: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:49:54,353: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:49:54,356: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:50:56,060: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:50:56,061: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:50:56,061: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:50:56,061: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:50:56,062: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:50:56,062: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:50:56,062: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:50:57,064: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:50:57,066: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:50:57,067: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:50:57,070: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:51:27,376: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:51:27,377: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:51:27,379: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:51:27,380: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:51:27,382: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:51:27,383: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:51:27,384: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:51:28,385: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:51:28,387: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:51:28,388: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:51:28,391: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:52:08,397: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:52:08,398: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:52:08,400: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:52:08,401: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:52:08,403: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:52:08,406: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:52:08,408: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:52:09,410: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:52:09,412: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:52:09,413: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:52:09,414: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:53:15,317: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:53:15,319: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:53:15,320: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:53:15,321: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:53:15,322: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:53:15,325: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:53:15,326: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:53:16,329: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:53:16,330: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:53:16,331: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:53:16,335: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][ERROR] 2013-08-21 15:53:16,339: Got a feedback callback when we're not tracking a goal. (id: /patroller-16-1377096796.337)
[rosout][INFO] 2013-08-21 15:53:44,540: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:53:44,541: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:53:44,543: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:53:44,544: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:53:44,546: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:53:44,548: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:53:44,549: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:53:45,552: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:53:45,554: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:53:45,555: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:53:45,558: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:54:26,362: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:54:26,363: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:54:26,363: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:54:26,364: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:54:26,364: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:54:26,365: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:54:26,365: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:54:27,367: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:54:27,369: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:54:27,370: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:54:27,374: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:55:33,382: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:55:33,383: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:55:33,385: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:55:33,385: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:55:33,388: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:55:33,389: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:55:33,390: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:55:34,391: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:55:34,393: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:55:34,394: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:55:34,397: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:56:34,402: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:56:34,404: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:56:34,408: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:56:34,408: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:56:34,410: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:56:34,414: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:56:34,418: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:56:35,422: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:56:35,424: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:56:35,424: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:56:35,427: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:57:37,231: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:57:37,231: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:57:37,232: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:57:37,232: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:57:37,233: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:57:37,233: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:57:37,233: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:57:38,235: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:57:38,237: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:57:38,237: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:57:38,240: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:58:07,946: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:58:07,947: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:58:07,949: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:58:07,950: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:58:07,952: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:58:07,954: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:58:07,955: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:58:08,957: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:58:08,959: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:58:08,960: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:58:08,964: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:58:45,571: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:58:45,573: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:58:45,575: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:58:45,576: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:58:45,578: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:58:45,580: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:58:45,581: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:58:46,583: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:58:46,585: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:58:46,586: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:58:46,589: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 15:59:52,793: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:59:52,794: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 15:59:52,795: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:59:52,795: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 15:59:52,795: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 15:59:52,796: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 15:59:52,796: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 15:59:53,797: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 15:59:53,799: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:59:53,801: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 15:59:53,809: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:01:01,814: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:01:01,814: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:01:01,815: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:01:01,815: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:01:01,815: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:01:01,816: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:01:01,816: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:01:02,817: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:01:02,819: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:01:02,820: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:01:02,823: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:02:04,627: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:02:04,630: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:02:04,631: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:02:04,632: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:02:04,636: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:02:04,637: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:02:04,638: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:02:05,640: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:02:05,642: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:02:05,643: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:02:05,646: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:02:36,950: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:02:36,951: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:02:36,953: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:02:36,954: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:02:36,956: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:02:36,957: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:02:36,958: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:02:37,960: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:02:37,962: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:02:37,963: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:02:37,967: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:03:19,272: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:03:19,274: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:03:19,275: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:03:19,276: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:03:19,278: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:03:19,280: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:03:19,282: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:03:20,284: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:03:20,286: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:03:20,287: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:03:20,291: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:04:00,395: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:04:00,397: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:04:00,398: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:04:00,399: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:04:00,401: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:04:00,403: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:04:00,404: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:04:01,407: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:04:01,409: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:04:01,409: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:04:01,410: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:05:01,513: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:05:01,514: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:05:01,516: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:05:01,516: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:05:01,519: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:05:01,522: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:05:01,523: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:05:02,525: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:05:02,527: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:05:02,528: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:05:02,531: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:06:02,635: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:06:02,636: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:06:02,636: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:06:02,637: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:06:02,637: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:06:02,638: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:06:02,638: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:06:03,639: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:06:03,641: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:06:03,641: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:06:03,642: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:06:03,844: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:06:03,845: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:06:03,845: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:06:03,846: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:06:03,846: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:06:03,847: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:06:03,847: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:06:04,849: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:06:04,849: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:06:04,849: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:06:04,850: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:07:05,952: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:07:05,952: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:07:05,953: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:07:05,953: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:07:05,954: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:07:05,954: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:07:05,954: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:07:06,955: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:07:06,956: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:07:06,956: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:07:06,957: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:07:43,759: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:07:43,759: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:07:43,760: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:07:43,761: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:07:43,761: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:07:43,761: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:07:43,761: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][ERROR] 2013-08-21 16:07:43,762: InvalidUserCodeError: Could not execute child termination callback: Traceback (most recent call last):
File "/opt/strands/strands_catkin_ws/src/catkinized_smach/smach/src/smach/concurrence.py", line 348, in _state_runner
preempt_others = self._child_termination_cb(self._child_outcomes)
File "/opt/strands/strands_catkin_ws/src/autonomous_patrolling/waypoint_patroller/scripts/navigation.py", line 28, in child_term_cb
if outcome_map['BUMPER_MONITOR'] == 'invalid' or outcome_map["BATTERY_MONITOR"]=="invalid" or outcome_map["MOVE_BASE_SM"]=="succeeded" or outcome_map['MOVE_BASE_SM']=="failure":
KeyError: 'BUMPER_MONITOR'
[rosout][INFO] 2013-08-21 16:07:44,763: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:07:44,763: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:07:44,764: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:07:44,765: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:08:29,666: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:08:29,667: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:08:29,668: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:08:29,668: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:08:29,669: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:08:29,669: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:08:29,670: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:08:30,671: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:08:30,672: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:08:30,673: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:08:30,676: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:09:30,978: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:09:30,979: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:09:30,979: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:09:30,980: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:09:30,980: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:09:30,981: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:09:30,981: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:09:31,983: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:09:31,984: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:09:31,984: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:09:31,985: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:09:32,190: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:09:32,190: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:09:32,191: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:09:32,191: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:09:32,192: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:09:32,192: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:09:32,193: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:09:33,194: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:09:33,195: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:09:33,195: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:09:33,196: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:10:33,198: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:10:33,198: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:10:33,199: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:10:33,199: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:10:33,199: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:10:33,200: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:10:33,200: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:10:34,201: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:10:34,202: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:10:34,203: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:10:34,205: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:11:36,707: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:11:36,707: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:11:36,708: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:11:36,708: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:11:36,708: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:11:36,709: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:11:36,709: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:11:37,710: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:11:37,711: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:11:37,711: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:11:37,712: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:12:07,214: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:12:07,214: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:12:07,214: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:12:07,215: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:12:07,215: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:12:07,216: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:12:07,216: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:12:08,217: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:12:08,218: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:12:08,218: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:12:08,219: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:12:48,521: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:12:48,521: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:12:48,522: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:12:48,523: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:12:48,523: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:12:48,525: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:12:48,525: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:12:49,527: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:12:49,528: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:12:49,529: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:12:49,530: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:13:30,531: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:13:30,531: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:13:30,532: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:13:30,533: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:13:30,533: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:13:30,533: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:13:30,533: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:13:31,535: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:13:31,536: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:13:31,536: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:13:31,537: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:14:11,139: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:14:11,140: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:14:11,140: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:14:11,141: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:14:11,141: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:14:11,141: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:14:11,141: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:14:12,142: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:14:12,143: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:14:12,144: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:14:12,146: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rospy.client][INFO] 2013-08-21 16:17:08,940: init_node, name[/patroller], pid[26028]
[xmlrpc][INFO] 2013-08-21 16:17:08,941: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2013-08-21 16:17:08,942: Started XML-RPC server [http://bob:45841/]
[rospy.init][INFO] 2013-08-21 16:17:08,942: ROS Slave URI: [http://bob:45841/]
[rospy.impl.masterslave][INFO] 2013-08-21 16:17:08,942: _ready: http://bob:45841/
[xmlrpc][INFO] 2013-08-21 16:17:08,943: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2013-08-21 16:17:08,945: Registering with master node http://localhost:11311
[rospy.init][INFO] 2013-08-21 16:17:09,043: registered with master
[rospy.rosout][INFO] 2013-08-21 16:17:09,043: initializing /rosout core topic
[rospy.rosout][INFO] 2013-08-21 16:17:09,046: connected to core topic /rosout
[rospy.simtime][INFO] 2013-08-21 16:17:09,051: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rosout][INFO] 2013-08-21 16:17:09,060: Executing waypoint_patroller with random point selection.
[rosout][INFO] 2013-08-21 16:17:09,061: Executing waypoint_patroller with infinite iterations
[rospy.internal][INFO] 2013-08-21 16:17:09,124: topic[/move_base/feedback] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,125: topic[/move_base/status] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,127: topic[/move_base/result] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,140: topic[/motor_status] adding connection to [http://bob:45684/], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,144: topic[/battery_state] adding connection to [http://bob:45684/], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,160: topic[/chargingServer/status] adding connection to [http://bob:44592/], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,164: topic[/chargingServer/result] adding connection to [http://bob:44592/], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,177: topic[/chargingServer/feedback] adding connection to [http://bob:44592/], count 0
[rosout][INFO] 2013-08-21 16:17:09,209: State machine starting in initial state 'POINT_CHOOSER' with userdata:
[]
[rospy.internal][INFO] 2013-08-21 16:17:09,276: topic[/chargingServer/cancel] adding connection to [/charging], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,277: topic[/chargingServer/goal] adding connection to [/charging], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,314: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,326: topic[/move_base/goal] adding connection to [/move_base], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,327: topic[/move_base/cancel] adding connection to [/move_base], count 0
[rospy.internal][INFO] 2013-08-21 16:17:09,338: topic[/cmd_vel] adding connection to [/scitos_node], count 0
[rosout][INFO] 2013-08-21 16:17:10,211: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:10,213: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:10,214: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:10,217: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:10,269: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:10,269: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:10,271: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098230
nsecs: 217813014
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:17:10,270: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:10,319: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:10,319: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:10,320: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:10,320: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:10,321: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:11,322: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:11,324: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:11,324: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:11,328: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:11,383: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:11,384: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:11,384: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:11,385: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098231
nsecs: 331057071
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:17:11,432: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:11,433: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:11,433: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:11,434: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:11,434: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:12,436: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:12,436: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:12,437: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:12,438: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:12,506: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:12,506: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:12,506: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:12,507: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098232
nsecs: 438786029
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:17:12,539: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:12,541: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:12,543: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:12,543: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:12,544: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:13,545: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:13,547: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:13,548: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:13,550: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:13,628: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:13,630: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:13,631: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:13,632: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098233
nsecs: 551841020
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:17:13,654: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:13,656: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:13,658: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:13,658: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:13,659: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:14,661: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:14,663: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:14,664: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:14,667: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:14,753: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:14,755: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:14,756: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:14,758: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098234
nsecs: 669605970
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:17:14,772: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:14,773: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:14,774: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:14,775: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:14,776: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:15,779: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:15,780: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:15,781: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:15,785: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:15,879: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:15,880: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:15,881: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098235
nsecs: 787749052
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:17:15,885: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:15,890: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:15,890: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:15,891: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:15,891: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:15,891: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:16,892: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:16,893: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:16,893: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:16,894: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:16,900: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:16,901: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:16,901: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:16,901: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098236
nsecs: 894848108
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:17:16,996: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:16,996: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:16,996: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:16,997: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:16,997: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:17,998: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:17,999: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:17,999: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:18,000: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:18,025: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:18,027: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:18,027: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:18,027: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098238
nsecs: 768899
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:17:18,103: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:18,104: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:18,106: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:18,107: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:18,108: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:19,110: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:19,111: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:19,112: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:19,117: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:19,154: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:19,155: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:19,157: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098239
nsecs: 118911027
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:17:19,158: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:19,223: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:19,225: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:19,226: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:19,228: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:19,229: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:20,232: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:20,234: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:20,235: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:20,238: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:20,265: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:20,267: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:20,267: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:20,268: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098240
nsecs: 240813970
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:17:20,344: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:20,345: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:20,347: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:20,349: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:20,350: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:21,353: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:21,355: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:21,356: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:21,359: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:21,386: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:21,389: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:21,390: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:21,390: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098241
nsecs: 363183975
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:17:21,465: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:21,465: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:21,466: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:21,466: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:21,467: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:22,468: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:22,469: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:22,469: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:22,470: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:22,502: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:22,503: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:22,504: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098242
nsecs: 471501111
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:17:22,503: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:22,573: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:22,575: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:22,576: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:22,577: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:22,578: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:23,580: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:23,582: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:23,583: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:23,586: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][ERROR] 2013-08-21 16:17:23,589: Got a feedback callback when we're not tracking a goal. (id: /patroller-13-1377098243.588)
[rosout][INFO] 2013-08-21 16:17:23,627: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:23,629: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:23,629: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:23,631: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098243
nsecs: 587598085
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:17:23,690: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:23,692: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:23,693: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:23,694: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:23,695: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:24,697: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:24,699: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:24,700: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:24,704: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:24,751: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:24,753: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:24,754: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:24,756: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098244
nsecs: 705817937
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:17:24,808: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:24,810: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:24,812: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:24,814: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:24,817: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:25,819: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:25,820: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:25,821: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:25,824: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:25,877: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:17:25,878: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:25,877: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:25,878: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098245
nsecs: 825820922
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:17:25,927: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:17:25,927: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:25,929: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:25,929: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:25,929: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:17:26,931: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:17:26,931: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:26,932: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:17:26,932: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:17:27,001: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rospy.core][INFO] 2013-08-21 16:17:27,002: signal_shutdown [signal-2]
[rospy.internal][INFO] 2013-08-21 16:17:27,012: topic[/chargingServer/goal] removing connection to /charging
[rospy.internal][INFO] 2013-08-21 16:17:27,012: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2013-08-21 16:17:27,012: topic[/move_base/goal] removing connection to /move_base
[rospy.internal][INFO] 2013-08-21 16:17:27,013: topic[/chargingServer/cancel] removing connection to /charging
[rospy.internal][INFO] 2013-08-21 16:17:27,013: topic[/move_base/cancel] removing connection to /move_base
[rospy.internal][INFO] 2013-08-21 16:17:27,013: topic[/cmd_vel] removing connection to /scitos_node
[rospy.internal][INFO] 2013-08-21 16:17:27,013: topic[/chargingServer/result] removing connection to http://bob:44592/
[rospy.internal][INFO] 2013-08-21 16:17:27,013: topic[/chargingServer/feedback] removing connection to http://bob:44592/
[rospy.internal][INFO] 2013-08-21 16:17:27,014: topic[/move_base/feedback] removing connection to http://bob:56881/
[rospy.internal][INFO] 2013-08-21 16:17:27,014: topic[/battery_state] removing connection to http://bob:45684/
[rospy.internal][INFO] 2013-08-21 16:17:27,014: topic[/chargingServer/status] removing connection to http://bob:44592/
[rospy.internal][INFO] 2013-08-21 16:17:27,014: topic[/move_base/status] removing connection to http://bob:56881/
[rospy.internal][INFO] 2013-08-21 16:17:27,015: topic[/move_base/result] removing connection to http://bob:56881/
[rospy.internal][INFO] 2013-08-21 16:17:27,015: topic[/motor_status] removing connection to http://bob:45684/
[rospy.impl.masterslave][INFO] 2013-08-21 16:17:27,015: signal-2
[rosout][INFO] 2013-08-21 16:17:27,179: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:17:27,180: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:17:27,181: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098246
nsecs: 933619022
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:17:27,183: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': None, 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:17:27,183: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:17:27,184: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rospy.client][INFO] 2013-08-21 16:18:27,377: init_node, name[/patroller], pid[26566]
[xmlrpc][INFO] 2013-08-21 16:18:27,378: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2013-08-21 16:18:27,379: Started XML-RPC server [http://bob:44262/]
[rospy.impl.masterslave][INFO] 2013-08-21 16:18:27,380: _ready: http://bob:44262/
[rospy.init][INFO] 2013-08-21 16:18:27,380: ROS Slave URI: [http://bob:44262/]
[xmlrpc][INFO] 2013-08-21 16:18:27,381: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2013-08-21 16:18:27,381: Registering with master node http://localhost:11311
[rospy.init][INFO] 2013-08-21 16:18:27,481: registered with master
[rospy.rosout][INFO] 2013-08-21 16:18:27,481: initializing /rosout core topic
[rospy.rosout][INFO] 2013-08-21 16:18:27,488: connected to core topic /rosout
[rospy.simtime][INFO] 2013-08-21 16:18:27,492: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rosout][INFO] 2013-08-21 16:18:27,500: Executing waypoint_patroller with random point selection.
[rosout][INFO] 2013-08-21 16:18:27,501: Executing waypoint_patroller with infinite iterations
[rospy.internal][INFO] 2013-08-21 16:18:27,561: topic[/move_base/feedback] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,573: topic[/motor_status] adding connection to [http://bob:45684/], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,574: topic[/battery_state] adding connection to [http://bob:45684/], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,577: topic[/move_base/status] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,582: topic[/move_base/result] adding connection to [http://bob:56881/], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,594: topic[/chargingServer/result] adding connection to [http://bob:44592/], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,599: topic[/chargingServer/status] adding connection to [http://bob:44592/], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,599: topic[/chargingServer/feedback] adding connection to [http://bob:44592/], count 0
[rosout][INFO] 2013-08-21 16:18:27,607: State machine starting in initial state 'POINT_CHOOSER' with userdata:
[]
[rospy.internal][INFO] 2013-08-21 16:18:27,769: topic[/cmd_vel] adding connection to [/scitos_node], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,771: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,777: topic[/move_base/goal] adding connection to [/move_base], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,778: topic[/move_base/cancel] adding connection to [/move_base], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,800: topic[/chargingServer/cancel] adding connection to [/charging], count 0
[rospy.internal][INFO] 2013-08-21 16:18:27,802: topic[/chargingServer/goal] adding connection to [/charging], count 0
[rosout][INFO] 2013-08-21 16:18:28,607: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:18:28,610: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:18:28,612: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:18:28,613: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:19:36,315: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:19:36,315: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:19:36,316: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:19:36,316: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:19:36,317: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:19:36,317: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:19:36,318: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:19:37,319: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:19:37,320: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:19:37,321: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:19:37,324: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:20:06,429: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:20:06,430: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:20:06,430: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:20:06,431: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:20:06,432: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:20:06,433: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:20:06,434: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:20:07,436: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:20:07,438: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:20:07,438: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:20:07,442: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:21:08,847: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:21:08,848: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:21:08,848: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:21:08,849: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:21:08,849: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:21:08,850: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:21:08,850: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:21:09,851: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:21:09,853: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:21:09,854: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:21:09,857: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:22:10,362: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:22:10,362: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:22:10,363: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:22:10,363: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:22:10,363: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:22:10,364: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][ERROR] 2013-08-21 16:22:10,365: InvalidUserCodeError: Could not execute child termination callback: Traceback (most recent call last):
File "/opt/strands/strands_catkin_ws/src/catkinized_smach/smach/src/smach/concurrence.py", line 348, in _state_runner
preempt_others = self._child_termination_cb(self._child_outcomes)
File "/opt/strands/strands_catkin_ws/src/autonomous_patrolling/waypoint_patroller/scripts/navigation.py", line 28, in child_term_cb
if outcome_map['BUMPER_MONITOR'] == 'invalid' or outcome_map["BATTERY_MONITOR"]=="invalid" or outcome_map["MOVE_BASE_SM"]=="succeeded" or outcome_map['MOVE_BASE_SM']=="failure":
KeyError: 'BUMPER_MONITOR'
[rosout][INFO] 2013-08-21 16:22:10,365: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:22:11,368: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:22:11,371: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:22:11,372: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:22:11,376: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rospy.internal][INFO] 2013-08-21 16:22:26,311: topic[/server_name/smach/container_structure] adding connection to [/smach_viewer], count 0
[rospy.internal][INFO] 2013-08-21 16:22:26,312: topic[/server_name/smach/container_status] adding connection to [/smach_viewer], count 0
[rosout][INFO] 2013-08-21 16:22:42,982: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:22:42,983: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:22:42,986: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:22:42,987: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:22:42,988: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:22:42,991: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:22:42,992: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:22:43,995: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:22:43,996: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:22:43,997: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:22:44,001: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rospy.internal][INFO] 2013-08-21 16:22:48,334: topic[/server_name/smach/container_status] removing connection to /smach_viewer
[rospy.internal][INFO] 2013-08-21 16:22:48,334: topic[/server_name/smach/container_structure] removing connection to /smach_viewer
[rospy.internal][INFO] 2013-08-21 16:22:55,059: topic[/server_name/smach/container_structure] adding connection to [/smach_viewer], count 0
[rospy.internal][INFO] 2013-08-21 16:22:55,060: topic[/server_name/smach/container_status] adding connection to [/smach_viewer], count 0
[rospy.internal][INFO] 2013-08-21 16:23:20,413: topic[/server_name/smach/container_structure] removing connection to /smach_viewer
[rospy.internal][INFO] 2013-08-21 16:23:20,413: topic[/server_name/smach/container_status] removing connection to /smach_viewer
[rosout][INFO] 2013-08-21 16:23:24,707: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:23:24,708: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:23:24,710: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:23:24,710: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:23:24,713: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:23:24,719: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:23:24,719: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:23:25,721: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:23:25,723: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:23:25,725: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:23:25,730: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:23:59,935: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:23:59,935: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:23:59,935: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:23:59,936: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:23:59,936: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:23:59,937: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:23:59,937: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:24:00,938: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:24:00,940: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:24:00,941: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:24:00,944: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:25:01,649: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:25:01,650: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:25:01,652: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:25:01,652: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:25:01,653: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:25:01,654: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:25:01,655: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:25:02,657: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:25:02,658: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:25:02,659: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:25:02,662: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:26:09,167: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:26:09,168: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:26:09,170: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:26:09,172: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:26:09,173: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:26:09,175: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:26:09,175: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:26:10,177: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:26:10,179: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:26:10,180: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:26:10,184: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:17,090: State machine terminating 'MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:27:17,091: Concurrent state 'MOVE_BASE_SM' returned outcome 'succeeded' on termination.
[rosout][INFO] 2013-08-21 16:27:17,093: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:17,094: Concurrent state 'BATTERY_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:17,096: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'succeeded', 'BATTERY_MONITOR': 'preempted'}
[rosout][INFO] 2013-08-21 16:27:17,098: State machine terminating 'MONITORED_MOVE_BASE':'succeeded':'succeeded'
[rosout][INFO] 2013-08-21 16:27:17,099: State machine transitioning 'PATROL_POINT':'succeeded'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:18,102: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:18,103: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:18,104: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:18,108: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:22,288: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:22,290: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:22,292: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098838
nsecs: 111191034
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:27:22,290: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:22,314: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:22,316: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:22,317: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:22,318: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:22,319: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:23,322: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:23,324: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:23,329: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:23,334: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:23,420: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:23,421: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:23,421: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098843
nsecs: 335985898
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:27:23,422: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:23,438: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:23,438: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:23,438: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:23,439: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:23,439: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:24,440: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:24,440: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:24,441: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:24,441: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:24,541: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:24,541: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:24,542: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:24,542: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098844
nsecs: 442559003
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:27:24,645: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:24,646: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:24,647: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:24,649: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:24,650: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:25,652: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:25,654: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:25,655: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:25,658: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:25,667: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:25,669: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:25,669: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:25,671: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098845
nsecs: 659307003
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:27:25,762: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:25,763: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:25,765: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:25,766: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:25,768: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:26,771: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:26,773: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:26,774: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:26,777: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:26,791: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:26,794: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:26,794: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:26,796: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098846
nsecs: 779586076
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:27:26,882: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:26,884: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:26,885: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:26,886: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:26,887: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:27,889: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:27,891: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:27,892: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:27,894: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:27,916: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:27,917: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:27,916: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:27,917: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098847
nsecs: 894748926
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:27:27,995: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:27,996: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:27,996: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:27,997: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:27,997: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:28,998: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:28,999: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:28,999: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:29,000: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:29,038: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:29,041: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:29,040: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:29,041: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098849
nsecs: 736951
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:27:29,103: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:29,104: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:29,106: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:29,107: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:29,108: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:30,110: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:30,112: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:30,113: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:30,116: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:30,159: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:30,162: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:30,162: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:30,165: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098850
nsecs: 118248939
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:27:30,220: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:30,221: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:30,222: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:30,222: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:30,223: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:31,225: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:31,226: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:31,226: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:31,228: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:31,267: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:31,269: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:31,271: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098851
nsecs: 229486942
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:27:31,273: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:31,334: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:31,335: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:31,337: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:31,338: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:31,339: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:32,341: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:32,343: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:32,344: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:32,350: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:32,384: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:32,387: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:32,387: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:32,390: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098852
nsecs: 351999998
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:27:32,453: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:32,454: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:32,454: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:32,454: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:32,455: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:33,455: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:33,456: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:33,456: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:33,457: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:33,509: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:33,509: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:33,510: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098853
nsecs: 457746028
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:27:33,510: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:33,559: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:33,561: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:33,563: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:33,564: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:33,565: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:34,567: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:34,568: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:34,569: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:34,571: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:34,635: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:34,638: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:34,637: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:34,640: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098854
nsecs: 571996927
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:27:34,673: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:34,675: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:34,676: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:34,677: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:34,678: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:35,680: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:35,682: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:35,683: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:35,687: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:35,760: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:35,763: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:35,763: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:35,766: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098855
nsecs: 689523935
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:27:35,792: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:35,794: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:35,795: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:35,797: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:35,798: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:36,800: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:36,802: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:36,803: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:36,806: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:36,885: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:36,888: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:36,887: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:36,891: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098856
nsecs: 809746026
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:27:36,911: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:36,912: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:36,912: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:36,913: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:36,913: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:37,914: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:37,915: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:37,915: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:37,916: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:38,010: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:38,011: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:38,011: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:38,011: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098857
nsecs: 917133092
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:27:38,018: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:38,018: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:38,018: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:38,019: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:38,019: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:39,021: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:39,021: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:39,022: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:39,023: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:39,032: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:39,032: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:39,032: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:39,033: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098859
nsecs: 23451089
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:27:39,126: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:39,127: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:39,131: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:39,132: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:39,133: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:40,134: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:40,136: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:40,137: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:40,140: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:40,157: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:40,159: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:40,161: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098860
nsecs: 143212080
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:27:40,159: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:40,247: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:40,249: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:40,250: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:40,251: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:40,252: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:41,255: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:41,257: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:41,258: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:41,261: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:41,267: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:41,270: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:41,272: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:41,273: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098861
nsecs: 263447999
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:27:41,367: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:41,368: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:41,371: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:41,372: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:41,373: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:42,376: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:42,378: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:42,380: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:42,383: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:42,484: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:42,485: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:42,485: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098862
nsecs: 385548114
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:27:42,486: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:42,487: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:42,488: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:42,488: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:42,488: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:42,488: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:43,490: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:43,491: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:43,491: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:43,492: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:43,502: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:43,503: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:43,503: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098863
nsecs: 493419885
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:27:43,503: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:43,595: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:43,596: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:43,599: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:43,600: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:43,601: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:44,603: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:44,605: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:44,606: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:44,609: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:44,630: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:44,631: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:44,631: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:44,633: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098864
nsecs: 609857082
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:27:44,711: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:44,713: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:44,714: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:44,715: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:44,716: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:45,718: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:45,720: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:45,721: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:45,725: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:45,754: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:45,756: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:45,757: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098865
nsecs: 726358890
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:27:45,759: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:45,829: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:45,830: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:45,831: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:45,832: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:45,833: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:46,835: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:46,837: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:46,838: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:46,841: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:46,879: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:46,882: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:46,882: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:46,885: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098866
nsecs: 844121932
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:27:46,945: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:46,946: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:46,946: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:46,947: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:46,948: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:47,950: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:47,950: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:47,951: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:47,952: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:48,009: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:48,010: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:48,011: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098867
nsecs: 952418088
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:27:48,010: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:48,054: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:48,054: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:48,056: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:48,057: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:48,057: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:49,059: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:49,060: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:49,061: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:49,063: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:49,129: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:49,131: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:49,132: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:49,134: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098869
nsecs: 65187931
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:27:49,167: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:49,169: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:49,171: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:49,172: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:49,173: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:50,176: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:50,177: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:50,178: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:50,182: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:50,250: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:50,251: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:50,252: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:50,253: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098870
nsecs: 184123039
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:27:50,288: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:50,289: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:50,291: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:50,292: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:50,292: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:51,295: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:51,297: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:51,299: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:51,303: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:51,366: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:51,368: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:51,368: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:51,372: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098871
nsecs: 307581901
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:27:51,410: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:51,411: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:51,412: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:51,413: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:51,413: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:52,414: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:52,415: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:52,415: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:52,416: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:52,484: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:52,485: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:52,485: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:52,485: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098872
nsecs: 417155981
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:27:52,518: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:52,518: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:52,519: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:52,519: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:52,519: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:53,520: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:53,521: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:53,521: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:53,522: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:53,602: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:53,605: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:53,607: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098873
nsecs: 522780895
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:27:53,605: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:53,623: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:53,624: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:53,625: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:53,625: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:53,626: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:54,628: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:54,630: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:54,631: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:54,634: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:54,729: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:54,731: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:54,733: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098874
nsecs: 636051893
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:27:54,732: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:54,739: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:54,740: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:54,743: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:54,744: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:54,745: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:55,748: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:55,750: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:55,751: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:55,755: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:55,854: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:55,856: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:55,857: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:55,858: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098875
nsecs: 757328033
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:27:55,958: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:55,959: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:55,959: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:55,960: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:55,960: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:56,961: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:56,962: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:56,962: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:56,963: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:56,979: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:56,979: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:56,980: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098876
nsecs: 964236021
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:27:56,980: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:57,065: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:57,066: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:57,067: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:57,068: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:57,069: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:58,071: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:58,073: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:58,074: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:58,077: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:58,101: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:58,103: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:58,104: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:58,106: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098878
nsecs: 78869104
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:27:58,181: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:58,183: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:58,184: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:58,185: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:58,186: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:27:59,189: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:27:59,190: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:59,191: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:27:59,194: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:27:59,227: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:27:59,229: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:27:59,229: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:59,231: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098879
nsecs: 196490049
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:27:59,299: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:27:59,300: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:27:59,302: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:27:59,303: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:27:59,304: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:00,308: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:00,310: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:00,311: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:00,315: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:00,349: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:00,352: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:00,352: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:00,354: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098880
nsecs: 316461086
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:28:00,418: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:00,419: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:00,420: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:00,420: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:00,420: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:01,421: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:01,422: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:01,422: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:01,423: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:01,461: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:01,461: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:01,461: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:01,462: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098881
nsecs: 424020051
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:28:01,524: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:01,525: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:01,526: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:01,527: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:01,528: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:02,529: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:02,529: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:02,529: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:02,530: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:02,586: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:02,588: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:02,589: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:02,591: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098882
nsecs: 530976057
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:28:02,634: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:02,636: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:02,638: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:02,639: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:02,640: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:03,642: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:03,644: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:03,645: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:03,648: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:03,703: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:03,706: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:03,708: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098883
nsecs: 650474071
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:28:03,710: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:03,753: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:03,754: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:03,756: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:03,757: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:03,758: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:04,760: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:04,762: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:04,763: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:04,768: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:04,829: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:04,831: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:04,831: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:04,832: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098884
nsecs: 769505977
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:28:04,873: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:04,874: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:04,876: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:04,877: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:04,877: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:05,879: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:05,881: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:05,883: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:05,887: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:05,954: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:05,955: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:05,955: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098885
nsecs: 890398025
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:28:05,955: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:05,992: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:05,992: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:05,993: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:05,993: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:05,993: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:06,995: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:06,995: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:06,995: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:06,996: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:07,079: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:07,082: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:07,082: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:07,084: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098886
nsecs: 997441053
frame_id: /map
pose:
position:
x: 9.2783
y: 15.3379
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -1.0
w: 0.000499323
[rosout][INFO] 2013-08-21 16:28:07,099: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:07,100: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:07,102: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:07,103: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:07,104: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:08,106: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:08,108: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:08,110: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:08,113: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:08,214: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:08,216: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:08,218: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:08,221: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098888
nsecs: 116060972
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:28:08,318: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:08,320: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:08,322: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:08,323: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:08,324: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:09,327: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:09,328: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:09,330: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:09,333: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:09,432: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:09,432: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:09,433: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:09,433: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098889
nsecs: 336218118
frame_id: /map
pose:
position:
x: -1.43661
y: -7.27141
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.046008
w: 0.998941
[rosout][INFO] 2013-08-21 16:28:09,439: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:09,439: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:09,440: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:09,440: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:09,440: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:10,442: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:10,443: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:10,443: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:10,444: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:10,452: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:10,452: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:10,453: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098890
nsecs: 444700956
frame_id: /map
pose:
position:
x: -3.76141
y: 14.4827
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0707354
w: 0.997495
[rosout][INFO] 2013-08-21 16:28:10,453: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:10,545: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:10,546: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:10,546: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:10,546: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:10,547: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:11,548: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:11,549: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:11,550: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:11,552: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:11,570: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rosout][INFO] 2013-08-21 16:28:11,572: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:11,572: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:11,573: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098891
nsecs: 553595066
frame_id: /map
pose:
position:
x: 5.01953
y: 3.2228
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.732682
w: 0.680571
[rosout][INFO] 2013-08-21 16:28:11,657: State machine terminating 'MOVE_BASE':'preempted':'preempted'
[rosout][INFO] 2013-08-21 16:28:11,659: Concurrent state 'MOVE_BASE_SM' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:11,661: Concurrent Outcomes: {'BUMPER_MONITOR': 'preempted', 'MOVE_BASE_SM': 'preempted', 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:11,662: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][INFO] 2013-08-21 16:28:11,663: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
[rosout][INFO] 2013-08-21 16:28:12,665: State machine transitioning 'POINT_CHOOSER':'patrol'-->'PATROL_POINT'
[rosout][INFO] 2013-08-21 16:28:12,668: State machine starting in initial state 'MONITORED_MOVE_BASE' with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:12,669: Concurrence starting with userdata:
['goal_pose', 'going_to_charge']
[rosout][INFO] 2013-08-21 16:28:12,673: State machine starting in initial state 'MOVE_BASE' with userdata:
['goal_pose', 'n_move_base_fails']
[rosout][INFO] 2013-08-21 16:28:12,692: Concurrent state 'BATTERY_MONITOR' returned outcome 'invalid' on termination.
[rospy.core][INFO] 2013-08-21 16:28:12,694: signal_shutdown [signal-2]
[rospy.internal][INFO] 2013-08-21 16:28:12,715: topic[/chargingServer/goal] removing connection to /charging
[rospy.internal][INFO] 2013-08-21 16:28:12,716: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2013-08-21 16:28:12,716: topic[/move_base/goal] removing connection to /move_base
[rospy.internal][INFO] 2013-08-21 16:28:12,716: topic[/chargingServer/cancel] removing connection to /charging
[rospy.internal][INFO] 2013-08-21 16:28:12,716: topic[/move_base/cancel] removing connection to /move_base
[rospy.internal][INFO] 2013-08-21 16:28:12,716: topic[/cmd_vel] removing connection to /scitos_node
[rospy.internal][INFO] 2013-08-21 16:28:12,716: topic[/chargingServer/result] removing connection to http://bob:44592/
[rospy.internal][INFO] 2013-08-21 16:28:12,716: topic[/chargingServer/feedback] removing connection to http://bob:44592/
[rospy.internal][INFO] 2013-08-21 16:28:12,717: topic[/move_base/feedback] removing connection to http://bob:56881/
[rospy.topics][ERROR] 2013-08-21 16:28:12,717: Traceback (most recent call last):
File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/topics.py", line 306, in close
c.close()
File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 781, in close
self.socket.close()
AttributeError: 'NoneType' object has no attribute 'close'
[rospy.internal][WARNING] 2013-08-21 16:28:12,717: Unknown error initiating TCP/IP socket to bob:46032 (http://bob:56881/): Traceback (most recent call last):
File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 536, in connect
self.read_header()
File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 593, in read_header
self._validate_header(read_ros_handshake_header(sock, self.read_buff, self.protocol.buff_size))
AttributeError: 'NoneType' object has no attribute 'buff_size'
[rospy.internal][INFO] 2013-08-21 16:28:12,718: topic[/battery_state] removing connection to http://bob:45684/
[rospy.internal][INFO] 2013-08-21 16:28:12,718: topic[/chargingServer/status] removing connection to http://bob:44592/
[rospy.internal][INFO] 2013-08-21 16:28:12,719: topic[/move_base/status] removing connection to http://bob:56881/
[rospy.internal][INFO] 2013-08-21 16:28:12,719: topic[/move_base/result] removing connection to http://bob:56881/
[rospy.internal][INFO] 2013-08-21 16:28:12,720: topic[/motor_status] removing connection to http://bob:45684/
[rospy.impl.masterslave][INFO] 2013-08-21 16:28:12,720: signal-2
[rosout][INFO] 2013-08-21 16:28:13,335: Preempt requested on action 'move_base'
[rosout][INFO] 2013-08-21 16:28:13,336: Preempt on action 'move_base' cancelling goal:
target_pose:
header:
seq: 0
stamp:
secs: 1377098892
nsecs: 674683094
frame_id: /map
pose:
position:
x: 11.6284
y: -6.26312
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.991998
w: 0.126251
[rosout][INFO] 2013-08-21 16:28:13,337: Concurrent Outcomes: {'BUMPER_MONITOR': None, 'MOVE_BASE_SM': None, 'BATTERY_MONITOR': 'invalid'}
[rosout][INFO] 2013-08-21 16:28:13,337: Concurrent state 'BUMPER_MONITOR' returned outcome 'preempted' on termination.
[rosout][INFO] 2013-08-21 16:28:13,339: State machine terminating 'MONITORED_MOVE_BASE':'battery_low':'battery_low'
[rosout][ERROR] 2013-08-21 16:28:13,340: InvalidUserCodeError: Could not execute child termination callback: Traceback (most recent call last):
File "/opt/strands/strands_catkin_ws/src/catkinized_smach/smach/src/smach/concurrence.py", line 348, in _state_runner
preempt_others = self._child_termination_cb(self._child_outcomes)
File "/opt/strands/strands_catkin_ws/src/autonomous_patrolling/waypoint_patroller/scripts/navigation.py", line 28, in child_term_cb
if outcome_map['BUMPER_MONITOR'] == 'invalid' or outcome_map["BATTERY_MONITOR"]=="invalid" or outcome_map["MOVE_BASE_SM"]=="succeeded" or outcome_map['MOVE_BASE_SM']=="failure":
KeyError: 'BUMPER_MONITOR'
[rosout][INFO] 2013-08-21 16:28:13,341: State machine transitioning 'PATROL_POINT':'battery_low'-->'POINT_CHOOSER'
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