diff --git a/Varianten/AdapterFIDEROS/resources/input/.project b/Varianten/AdapterFIDEROS/resources/input/.project
new file mode 100644
index 0000000000000000000000000000000000000000..51c04125a58701cd79e952c69e1c90f23aa39ee7
--- /dev/null
+++ b/Varianten/AdapterFIDEROS/resources/input/.project
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>turtlebots</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>de.ovgu.featureide.core.extensibleFeatureProjectBuilder</name>
+ <arguments>
+ <dictionary>
+ <key>build</key>
+ <value>src</value>
+ </dictionary>
+ <dictionary>
+ <key>composer</key>
+ <value>de.ovgu.featureide.composer.ahead</value>
+ </dictionary>
+ <dictionary>
+ <key>equations</key>
+ <value>configs</value>
+ </dictionary>
+ <dictionary>
+ <key>source</key>
+ <value>features</value>
+ </dictionary>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.jdt.core.javabuilder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.jdt.core.javanature</nature>
+ <nature>de.ovgu.featureide.core.featureProjectNature</nature>
+ </natures>
+</projectDescription>
diff --git a/build/sim/bot.gazebo.xacro b/build/sim/bot.gazebo.xacro
index 357fa620e85482c9bce27129d63cd83c64fc46da..e681b1b9b95438290b6cf3eebac7df549b4b1dfa 100644
--- a/build/sim/bot.gazebo.xacro
+++ b/build/sim/bot.gazebo.xacro
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_sim">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_pi_sim">
<xacro:arg name="laser_visual" default="false" />
<xacro:arg name="camera_visual" default="false" />
<xacro:arg name="imu_visual" default="false" />
@@ -44,15 +44,8 @@
<maxVel>1.0</maxVel>
<material>Gazebo/FlatBlack</material>
</gazebo>
- <gazebo reference="imu_link">
- <sensor type="imu" name="imu">
- <always_on>true</always_on>
- <visualize>$(arg imu_visual)</visualize>
- </sensor>
- <material>Gazebo/Grey</material>
- </gazebo>
<gazebo>
- <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
+ <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
@@ -101,79 +94,5 @@
</imu>
</plugin>
</gazebo>
- <gazebo reference="base_scan">
- <material>Gazebo/FlatBlack</material>
- <sensor type="ray" name="lds_lfcd_sensor">
- <pose>0 0 0 0 0 0</pose>
- <visualize>$(arg laser_visual)</visualize>
- <update_rate>5</update_rate>
- <ray>
- <scan>
- <horizontal>
- <samples>360</samples>
- <resolution>1</resolution>
- <min_angle>0.0</min_angle>
- <max_angle>6.28319</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.120</min>
- <max>3.5</max>
- <resolution>0.015</resolution>
- </range>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.01</stddev>
- </noise>
- </ray>
- <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
- <topicName>scan</topicName>
- <frameName>base_scan</frameName>
- </plugin>
- </sensor>
- </gazebo>
- <gazebo reference="camera_rgb_frame">
- <sensor type="depth" name="realsense_R200">
- <always_on>true</always_on>
- <visualize>$(arg camera_visual)</visualize>
- <camera>
- <horizontal_fov>1.3439</horizontal_fov>
- <image>
- <width>1920</width>
- <height>1080</height>
- <format>R8G8B8</format>
- </image>
- <depth_camera />
- <clip>
- <near>0.03</near>
- <far>100</far>
- </clip>
- </camera>
- <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
- <baseline>0.2</baseline>
- <alwaysOn>true</alwaysOn>
- <updateRate>30.0</updateRate>
- <cameraName>camera</cameraName>
- <frameName>camera_rgb_optical_frame</frameName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudCutoff>0.4</pointCloudCutoff>
- <hackBaseline>0.07</hackBaseline>
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
- <CxPrime>0.0</CxPrime>
- <Cx>0.0</Cx>
- <Cy>0.0</Cy>
- <focalLength>0</focalLength>
- <hackBaseline>0</hackBaseline>
- </plugin>
- </sensor>
- </gazebo>
+ <!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
</robot>
diff --git a/build/sim/bot.urdf.xacro b/build/sim/bot.urdf.xacro
index 0e9289f6c3bae4a5f2dfc9b2d173f0ffb5025daa..a268ae6cd2d2c2f5fc5f79efe38976a51b40ddbd 100644
--- a/build/sim/bot.urdf.xacro
+++ b/build/sim/bot.urdf.xacro
@@ -1,11 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_pi">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro" />
<xacro:include filename="$(find sim)/bot.gazebo.xacro" />
- <xacro:property name="r200_cam_rgb_px" value="0.005" />
- <xacro:property name="r200_cam_rgb_py" value="0.018" />
- <xacro:property name="r200_cam_rgb_pz" value="0.013" />
- <xacro:property name="r200_cam_depth_offset" value="0.01" />
<link name="base_footprint" />
<joint name="base_joint" type="fixed">
<parent link="base_footprint" />
@@ -16,7 +12,7 @@
<visual>
<origin xyz="-0.064 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001" />
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="light_black" />
</visual>
@@ -133,7 +129,7 @@
</joint>
<link name="base_scan">
<visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001" />
</geometry>
@@ -152,34 +148,20 @@
</inertial>
</link>
<joint name="camera_joint" type="fixed">
- <origin xyz="0.064 -0.065 0.094" rpy="0 0 0" />
+ <origin xyz="0.073 -0.011 0.084" rpy="0 0 0" />
<parent link="base_link" />
<child link="camera_link" />
</joint>
<link name="camera_link">
- <visual>
- <origin xyz="0 0 0" rpy="1.57 0 1.57" />
- <geometry>
- <mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
- </geometry>
- </visual>
<collision>
- <origin xyz="0.003 0.065 0.007" rpy="0 0 0" />
+ <origin xyz="0.005 0.011 0.013" rpy="0 0 0" />
<geometry>
- <box size="0.012 0.132 0.020" />
+ <box size="0.015 0.030 0.027" />
</geometry>
</collision>
- <!-- This inertial field needs doesn't contain reliable data!! -->
- <!-- <inertial>
- <mass value="0.564" />
- <origin xyz="0 0 0" />
- <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
- iyy="0.000498940" iyz="0.0"
- izz="0.003879257" />
- </inertial>-->
</link>
<joint name="camera_rgb_joint" type="fixed">
- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0" />
+ <origin xyz="0.003 0.011 0.009" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_rgb_frame" />
</joint>
@@ -190,16 +172,4 @@
<child link="camera_rgb_optical_frame" />
</joint>
<link name="camera_rgb_optical_frame" />
- <joint name="camera_depth_joint" type="fixed">
- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0" />
- <parent link="camera_link" />
- <child link="camera_depth_frame" />
- </joint>
- <link name="camera_depth_frame" />
- <joint name="camera_depth_optical_joint" type="fixed">
- <origin xyz="0 0 0" rpy="-1.57 0 -1.57" />
- <parent link="camera_depth_frame" />
- <child link="camera_depth_optical_frame" />
- </joint>
- <link name="camera_depth_optical_frame" />
</robot>
diff --git a/build/sim/botname.txt b/build/sim/botname.txt
index 07bb3138a66f538ea0a699432c9312975b3b69c2..06115db6b4d48d5478a2d5abcc55375e585fffdc 100644
--- a/build/sim/botname.txt
+++ b/build/sim/botname.txt
@@ -1 +1 @@
-waffle
\ No newline at end of file
+waffle_pi
\ No newline at end of file
diff --git a/build/sim/log/location_monitor.log b/build/sim/log/location_monitor.log
new file mode 100644
index 0000000000000000000000000000000000000000..8e8d36a3c60e81ac1c91129f2446b279973b931e
--- /dev/null
+++ b/build/sim/log/location_monitor.log
@@ -0,0 +1,1051 @@
+EventLog - INFO - [T:2.403] Bot X: 0.0793592981312
+EventLog - INFO - [T:2.403] Bot Y: 5.00003157391
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.403] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.403] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.403] Dist. To nearest Bot Collision point: 1.58100815906
+EventLog - INFO - [T:2.436] Bot X: 0.0793941634366
+EventLog - INFO - [T:2.436] Bot Y: 5.0000316021
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.436] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.436] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.436] Dist. To nearest Bot Collision point: 1.58099733864
+EventLog - INFO - [T:2.469] Bot X: 0.0794280251709
+EventLog - INFO - [T:2.469] Bot Y: 5.00003162589
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.469] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.469] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.469] Dist. To nearest Bot Collision point: 1.58098682649
+EventLog - INFO - [T:2.504] Bot X: 0.079461908345
+EventLog - INFO - [T:2.504] Bot Y: 5.00003164614
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.504] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.504] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.504] Dist. To nearest Bot Collision point: 1.58097630453
+EventLog - INFO - [T:2.536] Bot X: 0.0794968405302
+EventLog - INFO - [T:2.536] Bot Y: 5.00003166333
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.536] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.536] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.536] Dist. To nearest Bot Collision point: 1.58096545355
+EventLog - INFO - [T:2.569] Bot X: 0.0795307662617
+EventLog - INFO - [T:2.569] Bot Y: 5.00003167653
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.569] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.569] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.569] Dist. To nearest Bot Collision point: 1.58095491212
+EventLog - INFO - [T:2.604] Bot X: 0.079564712378
+EventLog - INFO - [T:2.604] Bot Y: 5.00003168621
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.604] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.604] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.604] Dist. To nearest Bot Collision point: 1.58094436122
+EventLog - INFO - [T:2.636] Bot X: 0.0795997083573
+EventLog - INFO - [T:2.636] Bot Y: 5.00003169248
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.636] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.636] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.636] Dist. To nearest Bot Collision point: 1.58093348072
+EventLog - INFO - [T:2.67] Bot X: 0.0796336954931
+EventLog - INFO - [T:2.67] Bot Y: 5.00003169496
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.67] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.67] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.67] Dist. To nearest Bot Collision point: 1.58092291067
+EventLog - INFO - [T:2.714] Bot X: 0.0796677026566
+EventLog - INFO - [T:2.714] Bot Y: 5.00003169387
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.714] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.714] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.714] Dist. To nearest Bot Collision point: 1.58091233124
+EventLog - INFO - [T:2.762] Bot X: 0.0797027611644
+EventLog - INFO - [T:2.762] Bot Y: 5.00003168903
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.762] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.762] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.762] Dist. To nearest Bot Collision point: 1.58090142143
+EventLog - INFO - [T:2.805] Bot X: 0.0797368086315
+EventLog - INFO - [T:2.805] Bot Y: 5.00003168069
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.805] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.805] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.805] Dist. To nearest Bot Collision point: 1.58089082302
+EventLog - INFO - [T:2.834] Bot X: 0.0797708757723
+EventLog - INFO - [T:2.834] Bot Y: 5.00003166877
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.834] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.834] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.834] Dist. To nearest Bot Collision point: 1.58088021532
+EventLog - INFO - [T:2.863] Bot X: 0.0798059957032
+EventLog - INFO - [T:2.863] Bot Y: 5.00003165274
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.863] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.863] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.863] Dist. To nearest Bot Collision point: 1.58086927647
+EventLog - INFO - [T:2.89] Bot X: 0.0798401024247
+EventLog - INFO - [T:2.89] Bot Y: 5.00003163352
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.89] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.89] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.89] Dist. To nearest Bot Collision point: 1.58085864998
+EventLog - INFO - [T:2.918] Bot X: 0.0798742284615
+EventLog - INFO - [T:2.918] Bot Y: 5.00003161069
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.918] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.918] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.918] Dist. To nearest Bot Collision point: 1.58084801428
+EventLog - INFO - [T:2.957] Bot X: 0.079909408697
+EventLog - INFO - [T:2.957] Bot Y: 5.00003158339
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:2.957] box_s_R_1 X: 1.0
+EventLog - INFO - [T:2.957] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:2.957] Dist. To nearest Bot Collision point: 1.58083704668
+EventLog - INFO - [T:3.001] Bot X: 0.0799435735825
+EventLog - INFO - [T:3.001] Bot Y: 5.00003155321
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.001] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.001] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.001] Dist. To nearest Bot Collision point: 1.58082639237
+EventLog - INFO - [T:3.045] Bot X: 0.0799777574203
+EventLog - INFO - [T:3.045] Bot Y: 5.0000315194
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.045] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.045] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.045] Dist. To nearest Bot Collision point: 1.58081572894
+EventLog - INFO - [T:3.074] Bot X: 0.0800129968268
+EventLog - INFO - [T:3.074] Bot Y: 5.00003148076
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.074] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.074] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.074] Dist. To nearest Bot Collision point: 1.58080473287
+EventLog - INFO - [T:3.105] Bot X: 0.0800472187711
+EventLog - INFO - [T:3.105] Bot Y: 5.00003143956
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.105] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.105] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.105] Dist. To nearest Bot Collision point: 1.58079405102
+EventLog - INFO - [T:3.134] Bot X: 0.0800814592994
+EventLog - INFO - [T:3.134] Bot Y: 5.00003139469
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.134] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.134] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.134] Dist. To nearest Bot Collision point: 1.58078336014
+EventLog - INFO - [T:3.163] Bot X: 0.0801167567274
+EventLog - INFO - [T:3.163] Bot Y: 5.00003134464
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.163] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.163] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.163] Dist. To nearest Bot Collision point: 1.58077233589
+EventLog - INFO - [T:3.195] Bot X: 0.0801510346092
+EventLog - INFO - [T:3.195] Bot Y: 5.00003129233
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.195] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.195] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.195] Dist. To nearest Bot Collision point: 1.58076162678
+EventLog - INFO - [T:3.243] Bot X: 0.0801853307015
+EventLog - INFO - [T:3.243] Bot Y: 5.00003123635
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.243] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.243] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.243] Dist. To nearest Bot Collision point: 1.58075090874
+EventLog - INFO - [T:3.344] Bot X: 0.0802206849845
+EventLog - INFO - [T:3.344] Bot Y: 5.00003117481
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.344] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.344] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.344] Dist. To nearest Bot Collision point: 1.58073985661
+EventLog - INFO - [T:3.383] Bot X: 0.0802550176662
+EventLog - INFO - [T:3.383] Bot Y: 5.00003111133
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.383] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.383] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.383] Dist. To nearest Bot Collision point: 1.58072912053
+EventLog - INFO - [T:3.416] Bot X: 0.0802893681793
+EventLog - INFO - [T:3.416] Bot Y: 5.00003104414
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.416] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.416] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.416] Dist. To nearest Bot Collision point: 1.58071837562
+EventLog - INFO - [T:3.447] Bot X: 0.0803247781337
+EventLog - INFO - [T:3.447] Bot Y: 5.00003097104
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.447] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.447] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.447] Dist. To nearest Bot Collision point: 1.5807072959
+EventLog - INFO - [T:3.476] Bot X: 0.0803591644607
+EventLog - INFO - [T:3.476] Bot Y: 5.00003089632
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.476] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.476] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.476] Dist. To nearest Bot Collision point: 1.58069653315
+EventLog - INFO - [T:3.511] Bot X: 0.0803935682343
+EventLog - INFO - [T:3.511] Bot Y: 5.00003081786
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.511] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.511] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.511] Dist. To nearest Bot Collision point: 1.58068576166
+EventLog - INFO - [T:3.543] Bot X: 0.0804290326587
+EventLog - INFO - [T:3.543] Bot Y: 5.00003073313
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.543] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.543] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.543] Dist. To nearest Bot Collision point: 1.58067465466
+EventLog - INFO - [T:3.575] Bot X: 0.0804634714593
+EventLog - INFO - [T:3.575] Bot Y: 5.00003064709
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.575] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.575] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.575] Dist. To nearest Bot Collision point: 1.58066386553
+EventLog - INFO - [T:3.607] Bot X: 0.080497927316
+EventLog - INFO - [T:3.607] Bot Y: 5.0000305573
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.607] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.607] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.607] Dist. To nearest Bot Collision point: 1.58065306776
+EventLog - INFO - [T:3.64] Bot X: 0.0805334449913
+EventLog - INFO - [T:3.64] Bot Y: 5.00003046086
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.64] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.64] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.64] Dist. To nearest Bot Collision point: 1.5806419338
+EventLog - INFO - [T:3.67] Bot X: 0.0805679350763
+EventLog - INFO - [T:3.67] Bot Y: 5.00003036343
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.67] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.67] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.67] Dist. To nearest Bot Collision point: 1.5806311186
+EventLog - INFO - [T:3.701] Bot X: 0.0806024418126
+EventLog - INFO - [T:3.701] Bot Y: 5.00003026224
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.701] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.701] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.701] Dist. To nearest Bot Collision point: 1.58062029487
+EventLog - INFO - [T:3.729] Bot X: 0.0806380114743
+EventLog - INFO - [T:3.729] Bot Y: 5.00003015402
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.729] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.729] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.729] Dist. To nearest Bot Collision point: 1.58060913426
+EventLog - INFO - [T:3.768] Bot X: 0.0806725515953
+EventLog - INFO - [T:3.768] Bot Y: 5.00003004516
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.768] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.768] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.768] Dist. To nearest Bot Collision point: 1.58059829333
+EventLog - INFO - [T:3.809] Bot X: 0.0807071080816
+EventLog - INFO - [T:3.809] Bot Y: 5.00002993289
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.809] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.809] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.809] Dist. To nearest Bot Collision point: 1.58058744432
+EventLog - INFO - [T:3.844] Bot X: 0.0807427289146
+EventLog - INFO - [T:3.844] Bot Y: 5.00002981423
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.844] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.844] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.844] Dist. To nearest Bot Collision point: 1.58057625864
+EventLog - INFO - [T:3.873] Bot X: 0.0807773186516
+EventLog - INFO - [T:3.873] Bot Y: 5.00002969625
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.873] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.873] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.873] Dist. To nearest Bot Collision point: 1.58056539438
+EventLog - INFO - [T:3.903] Bot X: 0.080811924586
+EventLog - INFO - [T:3.903] Bot Y: 5.00002957549
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.903] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.903] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.903] Dist. To nearest Bot Collision point: 1.58055452272
+EventLog - INFO - [T:3.934] Bot X: 0.0808475959849
+EventLog - INFO - [T:3.934] Bot Y: 5.00002944817
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.934] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.934] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.934] Dist. To nearest Bot Collision point: 1.5805433139
+EventLog - INFO - [T:3.964] Bot X: 0.0808822343921
+EventLog - INFO - [T:3.964] Bot Y: 5.00002932176
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.964] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.964] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.964] Dist. To nearest Bot Collision point: 1.5805324273
+EventLog - INFO - [T:3.994] Bot X: 0.0809168885879
+EventLog - INFO - [T:3.994] Bot Y: 5.00002919256
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:3.994] box_s_R_1 X: 1.0
+EventLog - INFO - [T:3.994] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:3.994] Dist. To nearest Bot Collision point: 1.58052153341
+EventLog - INFO - [T:4.021] Bot X: 0.0809526092794
+EventLog - INFO - [T:4.021] Bot Y: 5.00002905653
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.021] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.021] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.021] Dist. To nearest Bot Collision point: 1.5805103018
+EventLog - INFO - [T:4.049] Bot X: 0.0809872951069
+EventLog - INFO - [T:4.049] Bot Y: 5.00002892165
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.049] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.049] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.049] Dist. To nearest Bot Collision point: 1.58049939321
+EventLog - INFO - [T:4.079] Bot X: 0.0810219963037
+EventLog - INFO - [T:4.079] Bot Y: 5.00002878397
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.079] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.079] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.079] Dist. To nearest Bot Collision point: 1.58048847744
+EventLog - INFO - [T:4.107] Bot X: 0.0810577649786
+EventLog - INFO - [T:4.107] Bot Y: 5.00002863918
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.107] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.107] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.107] Dist. To nearest Bot Collision point: 1.58047722341
+EventLog - INFO - [T:4.136] Bot X: 0.0810924969496
+EventLog - INFO - [T:4.136] Bot Y: 5.00002849579
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.136] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.136] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.136] Dist. To nearest Bot Collision point: 1.58046629317
+EventLog - INFO - [T:4.166] Bot X: 0.0811272438671
+EventLog - INFO - [T:4.166] Bot Y: 5.00002834957
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.166] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.166] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.166] Dist. To nearest Bot Collision point: 1.58045535587
+EventLog - INFO - [T:4.196] Bot X: 0.0811630592065
+EventLog - INFO - [T:4.196] Bot Y: 5.00002819596
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.196] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.196] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.196] Dist. To nearest Bot Collision point: 1.58044407978
+EventLog - INFO - [T:4.223] Bot X: 0.0811978360388
+EventLog - INFO - [T:4.223] Bot Y: 5.00002804399
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.223] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.223] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.223] Dist. To nearest Bot Collision point: 1.58043312825
+EventLog - INFO - [T:4.25] Bot X: 0.0812326273908
+EventLog - INFO - [T:4.25] Bot Y: 5.00002788918
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.25] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.25] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.25] Dist. To nearest Bot Collision point: 1.58042216977
+EventLog - INFO - [T:4.278] Bot X: 0.0812684880612
+EventLog - INFO - [T:4.278] Bot Y: 5.00002772671
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.278] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.278] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.278] Dist. To nearest Bot Collision point: 1.58041087199
+EventLog - INFO - [T:4.306] Bot X: 0.0813033084527
+EventLog - INFO - [T:4.306] Bot Y: 5.00002756612
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.306] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.306] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.306] Dist. To nearest Bot Collision point: 1.58039989952
+EventLog - INFO - [T:4.335] Bot X: 0.0813381429307
+EventLog - INFO - [T:4.335] Bot Y: 5.00002740267
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.335] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.335] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.335] Dist. To nearest Bot Collision point: 1.58038892022
+EventLog - INFO - [T:4.365] Bot X: 0.0813740475805
+EventLog - INFO - [T:4.365] Bot Y: 5.00002723128
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.365] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.365] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.365] Dist. To nearest Bot Collision point: 1.58037760112
+EventLog - INFO - [T:4.395] Bot X: 0.0814089102159
+EventLog - INFO - [T:4.395] Bot Y: 5.00002706201
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.395] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.395] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.395] Dist. To nearest Bot Collision point: 1.58036660808
+EventLog - INFO - [T:4.442] Bot X: 0.0814437865005
+EventLog - INFO - [T:4.442] Bot Y: 5.00002688988
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.442] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.442] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.442] Dist. To nearest Bot Collision point: 1.58035560833
+EventLog - INFO - [T:4.471] Bot X: 0.0814797337647
+EventLog - INFO - [T:4.471] Bot Y: 5.00002670951
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.471] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.471] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.471] Dist. To nearest Bot Collision point: 1.58034426828
+EventLog - INFO - [T:4.499] Bot X: 0.0815146373135
+EventLog - INFO - [T:4.499] Bot Y: 5.00002653152
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.499] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.499] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.499] Dist. To nearest Bot Collision point: 1.58033325503
+EventLog - INFO - [T:4.531] Bot X: 0.0815495540691
+EventLog - INFO - [T:4.531] Bot Y: 5.00002635065
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.531] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.531] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.531] Dist. To nearest Bot Collision point: 1.5803222352
+EventLog - INFO - [T:4.56] Bot X: 0.0815855425656
+EventLog - INFO - [T:4.56] Bot Y: 5.00002616126
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.56] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.56] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.56] Dist. To nearest Bot Collision point: 1.58031087458
+EventLog - INFO - [T:4.594] Bot X: 0.0816204856806
+EventLog - INFO - [T:4.594] Bot Y: 5.0000259745
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.594] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.594] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.594] Dist. To nearest Bot Collision point: 1.5802998415
+EventLog - INFO - [T:4.633] Bot X: 0.0816554415529
+EventLog - INFO - [T:4.633] Bot Y: 5.00002578483
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.633] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.633] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.633] Dist. To nearest Bot Collision point: 1.58028880196
+EventLog - INFO - [T:4.677] Bot X: 0.0816914698788
+EventLog - INFO - [T:4.677] Bot Y: 5.00002558638
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.677] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.677] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.677] Dist. To nearest Bot Collision point: 1.58027742118
+EventLog - INFO - [T:4.705] Bot X: 0.0817264511895
+EventLog - INFO - [T:4.705] Bot Y: 5.0000253908
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.705] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.705] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.705] Dist. To nearest Bot Collision point: 1.58026636865
+EventLog - INFO - [T:4.734] Bot X: 0.0817614448006
+EventLog - INFO - [T:4.734] Bot Y: 5.0000251923
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.734] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.734] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.734] Dist. To nearest Bot Collision point: 1.58025530979
+EventLog - INFO - [T:4.764] Bot X: 0.0817975115301
+EventLog - INFO - [T:4.764] Bot Y: 5.00002498472
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.764] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.764] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.764] Dist. To nearest Bot Collision point: 1.58024390923
+EventLog - INFO - [T:4.792] Bot X: 0.0818325296504
+EventLog - INFO - [T:4.792] Bot Y: 5.00002478028
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.792] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.792] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.792] Dist. To nearest Bot Collision point: 1.58023283763
+EventLog - INFO - [T:4.823] Bot X: 0.0818675596124
+EventLog - INFO - [T:4.823] Bot Y: 5.00002457289
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.823] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.823] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.823] Dist. To nearest Bot Collision point: 1.58022175984
+EventLog - INFO - [T:4.866] Bot X: 0.0819036633128
+EventLog - INFO - [T:4.866] Bot Y: 5.00002435615
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.866] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.866] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.866] Dist. To nearest Bot Collision point: 1.5802103399
+EventLog - INFO - [T:4.909] Bot X: 0.0819387168486
+EventLog - INFO - [T:4.909] Bot Y: 5.00002414279
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.909] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.909] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.909] Dist. To nearest Bot Collision point: 1.58019924964
+EventLog - INFO - [T:4.938] Bot X: 0.0819737817635
+EventLog - INFO - [T:4.938] Bot Y: 5.00002392647
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.938] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.938] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.938] Dist. To nearest Bot Collision point: 1.58018815329
+EventLog - INFO - [T:4.969] Bot X: 0.0820099210187
+EventLog - INFO - [T:4.969] Bot Y: 5.00002370072
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:4.969] box_s_R_1 X: 1.0
+EventLog - INFO - [T:4.969] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:4.969] Dist. To nearest Bot Collision point: 1.58017671459
+EventLog - INFO - [T:5.0] Bot X: 0.0820450087131
+EventLog - INFO - [T:5.0] Bot Y: 5.00002347922
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.0] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.0] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.0] Dist. To nearest Bot Collision point: 1.5801656068
+EventLog - INFO - [T:5.03] Bot X: 0.082080107465
+EventLog - INFO - [T:5.03] Bot Y: 5.0000232554
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.03] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.03] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.03] Dist. To nearest Bot Collision point: 1.58015449365
+EventLog - INFO - [T:5.06] Bot X: 0.0821162812204
+EventLog - INFO - [T:5.06] Bot Y: 5.00002302237
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.06] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.06] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.06] Dist. To nearest Bot Collision point: 1.5801430382
+EventLog - INFO - [T:5.1] Bot X: 0.0821514019522
+EventLog - INFO - [T:5.1] Bot Y: 5.00002279385
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.1] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.1] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.1] Dist. To nearest Bot Collision point: 1.58013191434
+EventLog - INFO - [T:5.145] Bot X: 0.0821865332738
+EventLog - INFO - [T:5.145] Bot Y: 5.000022563
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.145] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.145] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.145] Dist. To nearest Bot Collision point: 1.58012078526
+EventLog - INFO - [T:5.171] Bot X: 0.0822227400913
+EventLog - INFO - [T:5.171] Bot Y: 5.00002232273
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.171] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.171] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.171] Dist. To nearest Bot Collision point: 1.58010931354
+EventLog - INFO - [T:5.202] Bot X: 0.0822578924301
+EventLog - INFO - [T:5.202] Bot Y: 5.00002208715
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.202] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.202] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.202] Dist. To nearest Bot Collision point: 1.58009817402
+EventLog - INFO - [T:5.234] Bot X: 0.0822930548797
+EventLog - INFO - [T:5.234] Bot Y: 5.00002184925
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.234] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.234] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.234] Dist. To nearest Bot Collision point: 1.58008702943
+EventLog - INFO - [T:5.264] Bot X: 0.082329292936
+EventLog - INFO - [T:5.264] Bot Y: 5.00002160187
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.264] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.264] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.264] Dist. To nearest Bot Collision point: 1.58007554215
+EventLog - INFO - [T:5.295] Bot X: 0.0823644698827
+EventLog - INFO - [T:5.295] Bot Y: 5.00002136045
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.295] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.295] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.295] Dist. To nearest Bot Collision point: 1.58006439033
+EventLog - INFO - [T:5.332] Bot X: 0.0823996504106
+EventLog - INFO - [T:5.332] Bot Y: 5.000021117
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.332] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.332] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.332] Dist. To nearest Bot Collision point: 1.58005323576
+EventLog - INFO - [T:5.377] Bot X: 0.0824359007059
+EventLog - INFO - [T:5.377] Bot Y: 5.00002086396
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.377] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.377] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.377] Dist. To nearest Bot Collision point: 1.58004174023
+EventLog - INFO - [T:5.403] Bot X: 0.0824710875008
+EventLog - INFO - [T:5.403] Bot Y: 5.00002061662
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.403] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.403] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.403] Dist. To nearest Bot Collision point: 1.58003058062
+EventLog - INFO - [T:5.43] Bot X: 0.0825062760008
+EventLog - INFO - [T:5.43] Bot Y: 5.0000203674
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.43] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.43] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.43] Dist. To nearest Bot Collision point: 1.58001941899
+EventLog - INFO - [T:5.458] Bot X: 0.0825425324421
+EventLog - INFO - [T:5.458] Bot Y: 5.00002010852
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.458] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.458] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.458] Dist. To nearest Bot Collision point: 1.58000791693
+EventLog - INFO - [T:5.487] Bot X: 0.0825777239398
+EventLog - INFO - [T:5.487] Bot Y: 5.0000198552
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.487] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.487] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.487] Dist. To nearest Bot Collision point: 1.57999675106
+EventLog - INFO - [T:5.522] Bot X: 0.0826129166927
+EventLog - INFO - [T:5.522] Bot Y: 5.00001959985
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.522] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.522] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.522] Dist. To nearest Bot Collision point: 1.57998558317
+EventLog - INFO - [T:5.562] Bot X: 0.0826491770531
+EventLog - INFO - [T:5.562] Bot Y: 5.00001933464
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.562] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.562] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.562] Dist. To nearest Bot Collision point: 1.57997407479
+EventLog - INFO - [T:5.608] Bot X: 0.0826843719431
+EventLog - INFO - [T:5.608] Bot Y: 5.00001907515
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.608] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.608] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.608] Dist. To nearest Bot Collision point: 1.57996290289
+EventLog - INFO - [T:5.638] Bot X: 0.0827195677016
+EventLog - INFO - [T:5.638] Bot Y: 5.00001881361
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.638] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.638] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.638] Dist. To nearest Bot Collision point: 1.57995172906
+EventLog - INFO - [T:5.665] Bot X: 0.0827558307544
+EventLog - INFO - [T:5.665] Bot Y: 5.00001854201
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.665] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.665] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.665] Dist. To nearest Bot Collision point: 1.57994021468
+EventLog - INFO - [T:5.695] Bot X: 0.0827910278312
+EventLog - INFO - [T:5.695] Bot Y: 5.00001827632
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.695] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.695] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.695] Dist. To nearest Bot Collision point: 1.57992903709
+EventLog - INFO - [T:5.725] Bot X: 0.0828262253358
+EventLog - INFO - [T:5.725] Bot Y: 5.00001800858
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.725] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.725] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.725] Dist. To nearest Bot Collision point: 1.57991785771
+EventLog - INFO - [T:5.757] Bot X: 0.0828624894876
+EventLog - INFO - [T:5.757] Bot Y: 5.00001773044
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.757] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.757] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.757] Dist. To nearest Bot Collision point: 1.57990633767
+EventLog - INFO - [T:5.804] Bot X: 0.0828976820756
+EventLog - INFO - [T:5.804] Bot Y: 5.00001745708
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.804] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.804] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.804] Dist. To nearest Bot Collision point: 1.57989515503
+EventLog - INFO - [T:5.837] Bot X: 0.0829328694233
+EventLog - INFO - [T:5.837] Bot Y: 5.00001718163
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.837] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.837] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.837] Dist. To nearest Bot Collision point: 1.57988397231
+EventLog - INFO - [T:5.861] Bot X: 0.082969116408
+EventLog - INFO - [T:5.861] Bot Y: 5.00001689521
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.861] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.861] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.861] Dist. To nearest Bot Collision point: 1.57987245057
+EventLog - INFO - [T:5.89] Bot X: 0.0830042905041
+EventLog - INFO - [T:5.89] Bot Y: 5.00001661507
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.89] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.89] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.89] Dist. To nearest Bot Collision point: 1.57986126808
+EventLog - INFO - [T:5.919] Bot X: 0.083039457883
+EventLog - INFO - [T:5.919] Bot Y: 5.00001633292
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.919] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.919] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.919] Dist. To nearest Bot Collision point: 1.57985008605
+EventLog - INFO - [T:5.958] Bot X: 0.0830756837761
+EventLog - INFO - [T:5.958] Bot Y: 5.00001604013
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:5.958] box_s_R_1 X: 1.0
+EventLog - INFO - [T:5.958] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:5.958] Dist. To nearest Bot Collision point: 1.57983856572
+EventLog - INFO - [T:6.005] Bot X: 0.0831108371143
+EventLog - INFO - [T:6.005] Bot Y: 5.00001575392
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.005] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.005] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.005] Dist. To nearest Bot Collision point: 1.57982738477
+EventLog - INFO - [T:6.033] Bot X: 0.0831459833387
+EventLog - INFO - [T:6.033] Bot Y: 5.0000154657
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.033] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.033] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.033] Dist. To nearest Bot Collision point: 1.57981620442
+EventLog - INFO - [T:6.06] Bot X: 0.0831821870212
+EventLog - INFO - [T:6.06] Bot Y: 5.00001516665
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.06] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.06] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.06] Dist. To nearest Bot Collision point: 1.57980468592
+EventLog - INFO - [T:6.091] Bot X: 0.0832173183984
+EventLog - INFO - [T:6.091] Bot Y: 5.00001487435
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.091] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.091] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.091] Dist. To nearest Bot Collision point: 1.57979350688
+EventLog - INFO - [T:6.119] Bot X: 0.0832524422625
+EventLog - INFO - [T:6.119] Bot Y: 5.00001458005
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.119] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.119] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.119] Dist. To nearest Bot Collision point: 1.57978232855
+EventLog - INFO - [T:6.16] Bot X: 0.0832886224884
+EventLog - INFO - [T:6.16] Bot Y: 5.00001427471
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.16] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.16] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.16] Dist. To nearest Bot Collision point: 1.57977081227
+EventLog - INFO - [T:6.208] Bot X: 0.0833237306915
+EventLog - INFO - [T:6.208] Bot Y: 5.00001397632
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.208] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.208] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.208] Dist. To nearest Bot Collision point: 1.57975963549
+EventLog - INFO - [T:6.237] Bot X: 0.0833588309799
+EventLog - INFO - [T:6.237] Bot Y: 5.0000136759
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.237] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.237] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.237] Dist. To nearest Bot Collision point: 1.57974845955
+EventLog - INFO - [T:6.266] Bot X: 0.083394986495
+EventLog - INFO - [T:6.266] Bot Y: 5.00001336427
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.266] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.266] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.266] Dist. To nearest Bot Collision point: 1.57973694585
+EventLog - INFO - [T:6.292] Bot X: 0.0834300703051
+EventLog - INFO - [T:6.292] Bot Y: 5.00001305976
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.292] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.292] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.292] Dist. To nearest Bot Collision point: 1.5797257717
+EventLog - INFO - [T:6.319] Bot X: 0.0834651457953
+EventLog - INFO - [T:6.319] Bot Y: 5.00001275323
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.319] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.319] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.319] Dist. To nearest Bot Collision point: 1.57971459851
+EventLog - INFO - [T:6.357] Bot X: 0.0835012736854
+EventLog - INFO - [T:6.357] Bot Y: 5.00001243577
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.357] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.357] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.357] Dist. To nearest Bot Collision point: 1.57970308874
+EventLog - INFO - [T:6.4] Bot X: 0.083536327231
+EventLog - INFO - [T:6.4] Bot Y: 5.0000121259
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.4] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.4] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.4] Dist. To nearest Bot Collision point: 1.57969191978
+EventLog - INFO - [T:6.446] Bot X: 0.0835713690607
+EventLog - INFO - [T:6.446] Bot Y: 5.00001181417
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.446] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.446] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.446] Dist. To nearest Bot Collision point: 1.57968075297
+EventLog - INFO - [T:6.477] Bot X: 0.0836074603698
+EventLog - INFO - [T:6.477] Bot Y: 5.00001149102
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.477] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.477] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.477] Dist. To nearest Bot Collision point: 1.57966925006
+EventLog - INFO - [T:6.507] Bot X: 0.0836424780119
+EventLog - INFO - [T:6.507] Bot Y: 5.00001117546
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.507] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.507] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.507] Dist. To nearest Bot Collision point: 1.57965808771
+EventLog - INFO - [T:6.536] Bot X: 0.0836774835523
+EventLog - INFO - [T:6.536] Bot Y: 5.00001085802
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.536] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.536] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.536] Dist. To nearest Bot Collision point: 1.57964692761
+EventLog - INFO - [T:6.564] Bot X: 0.0837135370789
+EventLog - INFO - [T:6.564] Bot Y: 5.00001052898
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.564] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.564] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.564] Dist. To nearest Bot Collision point: 1.57963543171
+EventLog - INFO - [T:6.595] Bot X: 0.0837485176688
+EventLog - INFO - [T:6.595] Bot Y: 5.0000102077
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.595] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.595] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.595] Dist. To nearest Bot Collision point: 1.57962427629
+EventLog - INFO - [T:6.639] Bot X: 0.0837834857817
+EventLog - INFO - [T:6.639] Bot Y: 5.00000988452
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.639] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.639] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.639] Dist. To nearest Bot Collision point: 1.57961312322
+EventLog - INFO - [T:6.669] Bot X: 0.0838195003637
+EventLog - INFO - [T:6.669] Bot Y: 5.00000954957
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.669] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.669] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.669] Dist. To nearest Bot Collision point: 1.57960163467
+EventLog - INFO - [T:6.699] Bot X: 0.0838544427834
+EventLog - INFO - [T:6.699] Bot Y: 5.00000922254
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.699] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.699] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.699] Dist. To nearest Bot Collision point: 1.5795904865
+EventLog - INFO - [T:6.731] Bot X: 0.083889372358
+EventLog - INFO - [T:6.731] Bot Y: 5.00000889369
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.731] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.731] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.731] Dist. To nearest Bot Collision point: 1.57957934085
+EventLog - INFO - [T:6.761] Bot X: 0.0839253460637
+EventLog - INFO - [T:6.761] Bot Y: 5.0000085528
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.761] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.761] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.761] Dist. To nearest Bot Collision point: 1.57956786024
+EventLog - INFO - [T:6.792] Bot X: 0.0839602468115
+EventLog - INFO - [T:6.792] Bot Y: 5.00000822
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.792] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.792] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.792] Dist. To nearest Bot Collision point: 1.57955672037
+EventLog - INFO - [T:6.835] Bot X: 0.0839951327703
+EventLog - INFO - [T:6.835] Bot Y: 5.00000788552
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.835] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.835] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.835] Dist. To nearest Bot Collision point: 1.57954558377
+EventLog - INFO - [T:6.883] Bot X: 0.0840310603051
+EventLog - INFO - [T:6.883] Bot Y: 5.00000753927
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.883] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.883] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.883] Dist. To nearest Bot Collision point: 1.57953411328
+EventLog - INFO - [T:6.911] Bot X: 0.0840659158987
+EventLog - INFO - [T:6.911] Bot Y: 5.0000072016
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.911] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.911] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.911] Dist. To nearest Bot Collision point: 1.57952298367
+EventLog - INFO - [T:6.942] Bot X: 0.084100756345
+EventLog - INFO - [T:6.942] Bot Y: 5.00000686238
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.942] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.942] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.942] Dist. To nearest Bot Collision point: 1.57951185756
+EventLog - INFO - [T:6.971] Bot X: 0.0841366365949
+EventLog - INFO - [T:6.971] Bot Y: 5.00000651123
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:6.971] box_s_R_1 X: 1.0
+EventLog - INFO - [T:6.971] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:6.971] Dist. To nearest Bot Collision point: 1.579500398
+EventLog - INFO - [T:7.0] Bot X: 0.0841714451488
+EventLog - INFO - [T:7.0] Bot Y: 5.00000616908
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.0] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.0] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.0] Dist. To nearest Bot Collision point: 1.57948927961
+EventLog - INFO - [T:7.028] Bot X: 0.0842062356836
+EventLog - INFO - [T:7.028] Bot Y: 5.00000582569
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.028] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.028] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.028] Dist. To nearest Bot Collision point: 1.57947816592
+EventLog - INFO - [T:7.071] Bot X: 0.0842420615012
+EventLog - INFO - [T:7.071] Bot Y: 5.00000547037
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.071] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.071] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.071] Dist. To nearest Bot Collision point: 1.57946672021
+EventLog - INFO - [T:7.101] Bot X: 0.084276815074
+EventLog - INFO - [T:7.101] Bot Y: 5.00000512402
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.101] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.101] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.101] Dist. To nearest Bot Collision point: 1.57945561577
+EventLog - INFO - [T:7.131] Bot X: 0.0843115502679
+EventLog - INFO - [T:7.131] Bot Y: 5.00000477621
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.131] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.131] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.131] Dist. To nearest Bot Collision point: 1.57944451593
+EventLog - INFO - [T:7.165] Bot X: 0.0843473186335
+EventLog - INFO - [T:7.165] Bot Y: 5.00000441634
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.165] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.165] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.165] Dist. To nearest Bot Collision point: 1.57943308462
+EventLog - INFO - [T:7.194] Bot X: 0.0843820159816
+EventLog - INFO - [T:7.194] Bot Y: 5.00000406558
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.194] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.194] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.194] Dist. To nearest Bot Collision point: 1.57942199431
+EventLog - INFO - [T:7.223] Bot X: 0.0844166944941
+EventLog - INFO - [T:7.223] Bot Y: 5.00000371336
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.223] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.223] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.223] Dist. To nearest Bot Collision point: 1.57941090873
+EventLog - INFO - [T:7.267] Bot X: 0.084452404055
+EventLog - INFO - [T:7.267] Bot Y: 5.00000334893
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.267] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.267] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.267] Dist. To nearest Bot Collision point: 1.57939949223
+EventLog - INFO - [T:7.31] Bot X: 0.0844870439905
+EventLog - INFO - [T:7.31] Bot Y: 5.00000299373
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.31] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.31] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.31] Dist. To nearest Bot Collision point: 1.57938841637
+EventLog - INFO - [T:7.339] Bot X: 0.0845216647611
+EventLog - INFO - [T:7.339] Bot Y: 5.00000263706
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.339] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.339] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.339] Dist. To nearest Bot Collision point: 1.57937734536
+EventLog - INFO - [T:7.369] Bot X: 0.0845573144841
+EventLog - INFO - [T:7.369] Bot Y: 5.00000226805
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.369] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.369] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.369] Dist. To nearest Bot Collision point: 1.57936594396
+EventLog - INFO - [T:7.399] Bot X: 0.0845918960036
+EventLog - INFO - [T:7.399] Bot Y: 5.00000190841
+EventLog - INFO - box_s_R_1
+EventLog - INFO - [T:7.399] box_s_R_1 X: 1.0
+EventLog - INFO - [T:7.399] box_s_R_1 Y: 3.0
+EventLog - INFO - Safedist.: 0.03
+EventLog - INFO - [T:7.399] Dist. To nearest Bot Collision point: 1.57935488287
+EventLog - INFO - [T:7.429] Bot did not move for 5 seconds!
diff --git a/src/var/FeatureModelConfigurator/configs/test.xml b/src/var/FeatureModelConfigurator/configs/test.xml
index 2346818cebe5c92c872f1136b7c1060e2f9d3646..3472dd56eb9cb7001d85127c2c602a27d34bb22e 100644
--- a/src/var/FeatureModelConfigurator/configs/test.xml
+++ b/src/var/FeatureModelConfigurator/configs/test.xml
@@ -5,13 +5,13 @@
<feature automatic="unselected" name="turtlebot3_burger"/>
<feature automatic="unselected" name="turtlebot3_burger_for_autorace"/>
<feature automatic="unselected" name="turtlebot3_burgertest1"/>
- <feature manual="selected" name="turtlebot3_waffle"/>
- <feature automatic="unselected" name="turtlebot3_waffle_pi"/>
+ <feature automatic="unselected" name="turtlebot3_waffle"/>
+ <feature manual="selected" name="turtlebot3_waffle_pi"/>
<feature automatic="selected" name="Sensors"/>
- <feature manual="selected" name="NO_CHANGE"/>
- <feature automatic="unselected" name="Custom"/>
- <feature automatic="unselected" name="Pi_Camera"/>
- <feature automatic="unselected" name="imu"/>
- <feature automatic="unselected" name="lds_lfcd_sensor"/>
- <feature automatic="unselected" name="realsense_R200"/>
+ <feature automatic="unselected" name="NO_CHANGE"/>
+ <feature manual="selected" name="Custom"/>
+ <feature name="Pi_Camera"/>
+ <feature name="imu"/>
+ <feature name="lds_lfcd_sensor"/>
+ <feature name="realsense_R200"/>
</configuration>
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
index 9177edfaa6b8133c3ffe21c9c12f2bfa9a5b0125..8cf93aa009fac0e03cea9fb3e1585882e7566b27 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
@@ -89,7 +89,7 @@ public class Configurator {
}
}
//check if the mode should be custom
- if(bCustomSenors)
+ if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}
diff --git a/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml b/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
index a8bd65a9a6d9fe8504b9b3612797b34d8d128fff..5145399b09271131f9e156318751d0a0cedf8400 100644
--- a/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
+++ b/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<specification>
- <templates name="turtlebot3_waffle" />
+ <templates name="turtlebot3_waffle_pi" />
<sensors>
- <mode param="NO_CHANGE" />
+ <mode param="Custom" />
</sensors>
</specification>
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.jak b/src/var/FeatureModelConfigurator/src/Configurator.jak
index 9c9d5addbf14c83218863d4eb59095a219ed5d44..a09c23337bce5607ade934cd52b603f8101c8d94 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/src/Configurator.jak
@@ -91,7 +91,7 @@ abstract class Configurator$$ConfiguratorMain {
}
}
//check if the mode should be custom
- if(bCustomSenors)
+ if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}
@@ -176,22 +176,12 @@ abstract class Configurator$$ConfiguratorMain {
}
}
-SoUrCe turtlebot3_waffle "../features/turtlebot3_waffle/Configurator.jak";/**
+SoUrCe turtlebot3_waffle_pi "../features/turtlebot3_waffle_pi/Configurator.jak";/**
* TODO description
*/
-abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
+public class Configurator extends Configurator$$ConfiguratorMain {
public void save() {
- Super().addToModuleList("turtlebot3_waffle");
- Super().save();
- }
-}
-
-SoUrCe NO_CHANGE "../features/NO_CHANGE/Configurator.jak";/**
- * TODO description
- */
-public class Configurator extends Configurator$$turtlebot3_waffle {
- public void save() {
- Super().addToModuleList("NO_CHANGE");
+ Super().addToModuleList("turtlebot3_waffle_pi");
Super().save();
}
}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.java b/src/var/FeatureModelConfigurator/src/Configurator.java
index 7301a67da17130a2830bf64b90f4de4a1c7f3327..3971d09b0eb66639750b2b006bbc50a8efa59a37 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.java
+++ b/src/var/FeatureModelConfigurator/src/Configurator.java
@@ -91,7 +91,7 @@ abstract class Configurator$$ConfiguratorMain {
}
}
//check if the mode should be custom
- if(bCustomSenors)
+ if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}
@@ -179,19 +179,9 @@ abstract class Configurator$$ConfiguratorMain {
/**
* TODO description
*/
-abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
+public class Configurator extends Configurator$$ConfiguratorMain {
public void save() {
- super.addToModuleList("turtlebot3_waffle");
- super.save();
- }
-}
-
-/**
- * TODO description
- */
-public class Configurator extends Configurator$$turtlebot3_waffle {
- public void save() {
- super.addToModuleList("NO_CHANGE");
+ super.addToModuleList("turtlebot3_waffle_pi");
super.save();
}
}
\ No newline at end of file
diff --git a/src/var/FeatureModelImplGenerator/template/Main.jak b/src/var/FeatureModelImplGenerator/template/Main.jak
index 9177edfaa6b8133c3ffe21c9c12f2bfa9a5b0125..8cf93aa009fac0e03cea9fb3e1585882e7566b27 100644
--- a/src/var/FeatureModelImplGenerator/template/Main.jak
+++ b/src/var/FeatureModelImplGenerator/template/Main.jak
@@ -89,7 +89,7 @@ public class Configurator {
}
}
//check if the mode should be custom
- if(bCustomSenors)
+ if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}