log.txt

simmode_name: Car
Lidar
AirsimCar_ROSWrapper Initialized!
Waiting for connection - 
Connected!

Client Ver:1 (Min Req:1), Server Ver:1 (Min Req:1)
Waiting for connection - 
Connected!

Client Ver:1 (Min Req:1), Server Ver:1 (Min Req:1)
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cur_twist x 0.396349
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cur_twist x 0.949834
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cur_twist x 0.964385
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cur_twist x 0.969748
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cur_twist x 0.972482
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cur_twist x 0.975322
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cur_twist x 0.988985
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cur_twist x 1.01702
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cur_twist x 1.02233
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cur_twist x 1.05756
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cur_twist x 1.06001
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cur_twist x 1.06741
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cur_twist x 1.07146
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cur_twist x 1.07611
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cur_twist x 1.07896
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cur_twist x 1.08181
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vel_error0.153643
cur_twist x 1.08646
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vel_error0.153799
cur_twist x 1.09005
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cur_twist x 1.09491
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cur_twist x 1.09752
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vel_error0.152217
cur_twist x 1.10288
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vel_error0.154419
cur_twist x 1.10443
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vel_error0.151489
cur_twist x 1.11111
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vel_error0.152731
cur_twist x 1.11362
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cur_twist x 1.11915
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cur_twist x 1.11714
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vel_error0.149232
cur_twist x 1.12837
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vel_error0.142091
cur_twist x 1.13926
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vel_error0.133578
cur_twist x 1.15152
des_vel 1.28885
vel_error0.136175
cur_twist x 1.15267
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vel_error0.141095
cur_twist x 1.1515
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vel_error0.139944
cur_twist x 1.1564
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vel_error0.142028
cur_twist x 1.15808
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vel_error0.14397
cur_twist x 1.15988
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vel_error0.141107
cur_twist x 1.16649
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vel_error0.143317
cur_twist x 1.16803
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vel_error0.144959
cur_twist x 1.17014
des_vel 1.31885
vel_error0.146482
cur_twist x 1.17237
des_vel 1.3226
vel_error0.145719
cur_twist x 1.17688
des_vel 1.32635
vel_error0.147225
cur_twist x 1.17912
des_vel 1.3301
vel_error0.146156
cur_twist x 1.18394
des_vel 1.33385
vel_error0.147458
cur_twist x 1.18639
des_vel 1.3376
vel_error0.146952
cur_twist x 1.19065
des_vel 1.34135
vel_error0.144701
cur_twist x 1.19665
des_vel 1.3451
vel_error0.14587
cur_twist x 1.19923
des_vel 1.34885
vel_error0.147229
cur_twist x 1.20162
des_vel 1.3526
vel_error0.145589
cur_twist x 1.20701
des_vel 1.35635
vel_error0.150883
cur_twist x 1.20547
des_vel 1.3601
vel_error0.144277
cur_twist x 1.21582
des_vel 1.36385
vel_error0.143006
cur_twist x 1.22084
des_vel 1.3676
vel_error0.144191
cur_twist x 1.22341
des_vel 1.37135
vel_error0.143001
cur_twist x 1.22835
des_vel 1.3751
vel_error0.143618
cur_twist x 1.23148
des_vel 1.37885
vel_error0.14499
cur_twist x 1.23386
des_vel 1.3826
vel_error0.146147
cur_twist x 1.23646
des_vel 1.38635
vel_error0.144897
cur_twist x 1.24145
des_vel 1.3901
vel_error0.145861
cur_twist x 1.24424
des_vel 1.39385
vel_error0.141768
cur_twist x 1.25208
des_vel 1.3976
vel_error0.142674
cur_twist x 1.25493
des_vel 1.40135
vel_error0.143921
cur_twist x 1.25743
des_vel 1.4051
vel_error0.14212
cur_twist x 1.26298
des_vel 1.40885
vel_error0.14334
cur_twist x 1.26551
des_vel 1.4126
vel_error0.14442
cur_twist x 1.26818
des_vel 1.41635
vel_error0.142822
cur_twist x 1.27353
des_vel 1.4201
vel_error0.141292
cur_twist x 1.27881
des_vel 1.42385
vel_error0.14515
cur_twist x 1.2787
des_vel 1.42759
vel_error0.135498
cur_twist x 1.2921
des_vel 1.43135
vel_error0.138687
cur_twist x 1.29266
des_vel 1.4351
vel_error0.138911
cur_twist x 1.29619
des_vel 1.43885
vel_error0.137583
cur_twist x 1.30127
des_vel 1.4426
vel_error0.138812
cur_twist x 1.30379
des_vel 1.44635
vel_error0.140376
cur_twist x 1.30597
des_vel 1.4501
vel_error0.138815
cur_twist x 1.31128
des_vel 1.45385
vel_error0.139849
cur_twist x 1.314
des_vel 1.4576
vel_error0.139085
cur_twist x 1.31852
des_vel 1.46135
vel_error0.13921
cur_twist x 1.32214
des_vel 1.4651
vel_error0.140587
cur_twist x 1.32451
des_vel 1.46885
vel_error0.138983
cur_twist x 1.32987
des_vel 1.4726
vel_error0.140374
cur_twist x 1.33222
des_vel 1.47635
vel_error0.1401
cur_twist x 1.33625
des_vel 1.4801
vel_error0.138575
cur_twist x 1.34153
des_vel 1.48385
vel_error0.135085
cur_twist x 1.34877
des_vel 1.4876
vel_error0.136073
cur_twist x 1.35153
des_vel 1.49135
vel_error0.134903
cur_twist x 1.35645
des_vel 1.4951
vel_error0.135138
cur_twist x 1.35996
des_vel 1.49885
vel_error0.13652
cur_twist x 1.36233
des_vel 1.5026
vel_error0.134935
cur_twist x 1.36766
des_vel 1.50635
vel_error0.136331
cur_twist x 1.37002
des_vel 1.5101
vel_error0.137444
cur_twist x 1.37266
des_vel 1.51385
vel_error0.132913
cur_twist x 1.38094
des_vel 1.5176
vel_error0.133991
cur_twist x 1.38361
des_vel 1.52135
vel_error0.135144
cur_twist x 1.3862
des_vel 1.38903
vel_error0
cur_twist x 1.38903
des_vel 1.39278
vel_error-0.00476679
cur_twist x 1.39755
des_vel 1.39653
vel_error-0.00368281
cur_twist x 1.40022
des_vel 1.40028
vel_error-0.00503315
cur_twist x 1.40532
des_vel 1.40403
vel_error-0.00404278
cur_twist x 1.40808
des_vel 1.40778
vel_error-0.00405102
cur_twist x 1.41183
des_vel 1.41153
vel_error-0.00112333
cur_twist x 1.41266
des_vel 1.41528
vel_error0.00298127
cur_twist x 1.4123
des_vel 1.41903
vel_error0.00870128
cur_twist x 1.41033
des_vel 1.42278
vel_error0.0140695
cur_twist x 1.40871
des_vel 1.42653
vel_error0.0199795
cur_twist x 1.40655
des_vel 1.43028
vel_error0.0289025
cur_twist x 1.40138
des_vel 1.43404
vel_error0.0384869
cur_twist x 1.39555
des_vel 1.43778
vel_error0.0512064
cur_twist x 1.38658
des_vel 1.44153
vel_error0.0556359
cur_twist x 1.3859
des_vel 1.44528
vel_error0.0626829
cur_twist x 1.3826
des_vel 1.44903
vel_error0.069607
cur_twist x 1.37943
des_vel 1.45278
vel_error0.0795377
cur_twist x 1.37324
des_vel 1.45653
vel_error0.0888734
cur_twist x 1.36766
des_vel 1.46028
vel_error0.0987242
cur_twist x 1.36156
des_vel 1.46403
vel_error0.105447
cur_twist x 1.35858
des_vel 1.46778
vel_error0.114295
cur_twist x 1.35349
des_vel 1.47153
vel_error0.119994
cur_twist x 1.35154
des_vel 1.47528
vel_error0.126195
cur_twist x 1.34909
des_vel 1.47903
vel_error0.131734
cur_twist x 1.3473
des_vel 1.48279
vel_error0.139362
cur_twist x 1.34342
des_vel 1.48654
vel_error0.145429
cur_twist x 1.34111
des_vel 1.49028
vel_error0.152675
cur_twist x 1.33761
des_vel 1.49403
vel_error0.157898
cur_twist x 1.33613
des_vel 1.49779
vel_error0.162424
cur_twist x 1.33536
des_vel 1.50153
vel_error0.174274
cur_twist x 1.32726
des_vel 1.50528
vel_error0.171691
cur_twist x 1.33359
des_vel 1.50903
vel_error0.176161
cur_twist x 1.33287
des_vel 1.51278
vel_error0.180656
cur_twist x 1.33213
des_vel 1.51654
vel_error0.184794
cur_twist x 1.33174
des_vel 1.52028
vel_error0.193506
cur_twist x 1.32678
des_vel 1.52404
vel_error0.190905
cur_twist x 1.33313
des_vel 1.52779
vel_error0.195882
cur_twist x 1.3319
des_vel 1.53153
vel_error0.199005
cur_twist x 1.33253
des_vel 1.53528
vel_error0.207555
cur_twist x 1.32773
des_vel 1.53903
vel_error0.203272
cur_twist x 1.33576
des_vel 1.54278
vel_error0.207246
cur_twist x 1.33554
des_vel 1.54653
vel_error0.21005
cur_twist x 1.33648
des_vel 1.55028
vel_error0.212503
cur_twist x 1.33778
des_vel 1.55403
vel_error0.217426
cur_twist x 1.33661
des_vel 1.55778
vel_error0.215502
cur_twist x 1.34228
des_vel 1.56153
vel_error0.21921
cur_twist x 1.34232
des_vel 1.56529
vel_error0.220198
cur_twist x 1.34509
des_vel 1.56903
vel_error0.222618
cur_twist x 1.34642
des_vel 1.57278
vel_error0.220519
cur_twist x 1.35226
des_vel 1.57654
vel_error0.223871
cur_twist x 1.35266
des_vel 1.58028
vel_error0.224239
cur_twist x 1.35604
des_vel 1.58404
vel_error0.226187
cur_twist x 1.35785
des_vel 1.58778
vel_error0.225541
cur_twist x 1.36224
des_vel 1.59153
vel_error0.228321
cur_twist x 1.36321
des_vel 1.59528
vel_error0.230168
cur_twist x 1.36511
des_vel 1.59904
vel_error0.229988
cur_twist x 1.36905
des_vel 1.60278
vel_error0.232073
cur_twist x 1.37071
des_vel 1.60654
vel_error0.230876
cur_twist x 1.37566
des_vel 1.61028
vel_error0.233061
cur_twist x 1.37722
des_vel 1.61403
vel_error0.232376
cur_twist x 1.38166
des_vel 1.61778
vel_error0.234025
cur_twist x 1.38376
des_vel 1.62153
vel_error0.235487
cur_twist x 1.38604
des_vel 1.62528
vel_error0.233689
cur_twist x 1.39159
des_vel 1.62904
vel_error0.235924
cur_twist x 1.39311
des_vel 1.63279
vel_error0.234971
cur_twist x 1.39781
des_vel 1.63653
vel_error0.236249
cur_twist x 1.40028
des_vel 1.64028
vel_error0.237436
cur_twist x 1.40285
des_vel 1.64403
vel_error0.234594
cur_twist x 1.40944
des_vel 1.64778
vel_error0.23243
cur_twist x 1.41535
des_vel 1.65153
vel_error0.233582
cur_twist x 1.41795
des_vel 1.65529
vel_error0.233988
cur_twist x 1.4213
des_vel 1.65903
vel_error0.232673
cur_twist x 1.42636
des_vel 1.66278
vel_error0.2323
cur_twist x 1.43048
des_vel 1.66653
vel_error0.233521
cur_twist x 1.43301
des_vel 1.67029
vel_error0.23233
cur_twist x 1.43796
des_vel 1.67403
vel_error0.235852
cur_twist x 1.43818
des_vel 1.67778
vel_error0.231889
cur_twist x 1.44589
des_vel 1.68153
vel_error0.233185
cur_twist x 1.44835
des_vel 1.68528
vel_error0.234194
cur_twist x 1.45109
des_vel 1.68903
vel_error0.232836
cur_twist x 1.4562
des_vel 1.69279
vel_error0.230783
cur_twist x 1.462
des_vel 1.69653
vel_error0.232426
cur_twist x 1.46411
des_vel 1.70028
vel_error0.230993
cur_twist x 1.46929
des_vel 1.70404
vel_error0.23195
cur_twist x 1.47209
des_vel 1.70779
vel_error0.233304
cur_twist x 1.47448
des_vel 1.71153
vel_error0.230062
cur_twist x 1.48147
des_vel 1.71528
vel_error0.232228
cur_twist x 1.48305
des_vel 1.71903
vel_error0.230568
cur_twist x 1.48846
des_vel 1.72278
vel_error0.231738
cur_twist x 1.49104
des_vel 1.72654
vel_error0.230057
cur_twist x 1.49648
des_vel 1.73029
vel_error0.231063
cur_twist x 1.49922
des_vel 1.73403
vel_error0.231994
cur_twist x 1.50204
des_vel 1.73778
vel_error0.232836
cur_twist x 1.50495
des_vel 1.74153
vel_error0.23104
cur_twist x 1.51049
des_vel 1.74529
vel_error0.236901
cur_twist x 1.50839
des_vel 1.74903
vel_error0.225713
cur_twist x 1.52332
des_vel 1.75278
vel_error0.226083
cur_twist x 1.5267
des_vel 1.75653
vel_error0.227083
cur_twist x 1.52945
des_vel 1.76028
vel_error0.228153
cur_twist x 1.53213
des_vel 1.76403
vel_error0.225979
cur_twist x 1.53805
des_vel 1.76778
vel_error0.221406
cur_twist x 1.54638
des_vel 1.77153
vel_error0.222479
cur_twist x 1.54905
des_vel 1.77528
vel_error0.219299
cur_twist x 1.55598
des_vel 1.77903
vel_error0.220534
cur_twist x 1.5585
des_vel 1.78278
vel_error0.2194
cur_twist x 1.56338
des_vel 1.78653
vel_error0.220342
cur_twist x 1.56619
des_vel 1.79028
vel_error0.22001
cur_twist x 1.57027
des_vel 1.79403
vel_error0.219206
cur_twist x 1.57483
des_vel 1.79778
vel_error0.218003
cur_twist x 1.57978
des_vel 1.80153
vel_error0.219132
cur_twist x 1.5824
des_vel 1.80528
vel_error0.21974
cur_twist x 1.58554
des_vel 1.80903
vel_error0.217623
cur_twist x 1.59141
des_vel 1.81278
vel_error0.219183
cur_twist x 1.5936
des_vel 1.81653
vel_error0.217675
cur_twist x 1.59886
des_vel 1.82028
vel_error0.216039
cur_twist x 1.60424
des_vel 1.82403
vel_error0.222118
cur_twist x 1.60191
des_vel 1.82778
vel_error0.210892
cur_twist x 1.61689
des_vel 1.83153
vel_error0.211946
cur_twist x 1.61959
des_vel 1.83528
vel_error0.211749
cur_twist x 1.62353
des_vel 1.83903
vel_error0.212838
cur_twist x 1.62619
des_vel 1.84278
vel_error0.21139
cur_twist x 1.63139
des_vel 1.84653
vel_error0.212697
cur_twist x 1.63383
des_vel 1.85029
vel_error0.213804
cur_twist x 1.63648
des_vel 1.85403
vel_error0.217685
cur_twist x 1.63635
des_vel 1.85778
vel_error0.214129
cur_twist x 1.64365
des_vel 1.86154
vel_error0.206755
cur_twist x 1.65478
des_vel 1.86528
vel_error0.208938
cur_twist x 1.65634
des_vel 1.86904
vel_error0.210459
cur_twist x 1.65858
des_vel 1.87278
vel_error0.217546
cur_twist x 1.65524
des_vel 1.87653
vel_error0.213376
cur_twist x 1.66316
des_vel 1.88029
vel_error0.2054
cur_twist x 1.67489
des_vel 1.88403
vel_error0.20383
cur_twist x 1.6802
des_vel 1.88778
vel_error0.203926
cur_twist x 1.68386
des_vel 1.89153
vel_error0.203128
cur_twist x 1.68841
des_vel 1.89529
vel_error0.204918
cur_twist x 1.69037
des_vel 1.89903
vel_error0.204563
cur_twist x 1.69447
des_vel 1.90278
vel_error0.206008
cur_twist x 1.69677
des_vel 1.90653
vel_error0.208324
cur_twist x 1.69821
des_vel 1.91029
vel_error0.206226
cur_twist x 1.70406
des_vel 1.91404
vel_error0.205002
cur_twist x 1.70903
des_vel 1.91778
vel_error0.206348
cur_twist x 1.71143
des_vel 1.92153
vel_error0.204879
cur_twist x 1.71665
des_vel 1.92528
vel_error0.203258
cur_twist x 1.72202
des_vel 1.92903
vel_error0.202977
cur_twist x 1.72606
des_vel 1.93279
vel_error0.202355
cur_twist x 1.73043
des_vel 1.93653
vel_error0.203506
cur_twist x 1.73303
des_vel 1.94028
vel_error0.204652
cur_twist x 1.73563
des_vel 1.94403
vel_error0.20326
cur_twist x 1.74077
des_vel 1.94778
vel_error0.20435
cur_twist x 1.74343
des_vel 1.95154
vel_error0.202787
cur_twist x 1.74875
des_vel 1.95528
vel_error0.204421
cur_twist x 1.75086
des_vel 1.95903
vel_error0.204702
cur_twist x 1.75433
des_vel 1.96278
vel_error0.203102
cur_twist x 1.75968
des_vel 1.96654
vel_error0.203946
cur_twist x 1.76259
des_vel 1.97028
vel_error0.204183
cur_twist x 1.7661
des_vel 1.97404
vel_error0.202798
cur_twist x 1.77124
des_vel 1.97778
vel_error0.200934
cur_twist x 1.77685
des_vel 1.98154
vel_error0.201935
cur_twist x 1.7796
des_vel 1.98531
vel_error0.20006
cur_twist x 1.78525
des_vel 1.98903
vel_error0.202237
cur_twist x 1.7868
des_vel 1.99278
vel_error0.198897
cur_twist x 1.79389
des_vel 1.99653
vel_error0.199917
cur_twist x 1.79662
des_vel 2.00028
vel_error0.198125
cur_twist x 1.80216
des_vel 2.00403
vel_error0.199141
cur_twist x 1.80489
des_vel 2.00779
vel_error0.197622
cur_twist x 1.81016
des_vel 2.01153
vel_error0.19418
cur_twist x 1.81735
des_vel 2.01529
vel_error0.195401
cur_twist x 1.81989
des_vel 2.01903
vel_error0.193927
cur_twist x 1.8251
des_vel 2.02278
vel_error0.196133
cur_twist x 1.82665
des_vel 2.02653
vel_error0.193144
cur_twist x 1.83339
des_vel 2.03028
vel_error0.194369
cur_twist x 1.83591
des_vel 2.03404
vel_error0.192799
cur_twist x 1.84124
des_vel 2.03778
vel_error0.193733
cur_twist x 1.84405
des_vel 2.04153
vel_error0.19199
cur_twist x 1.84954
des_vel 2.04528
vel_error0.19293
cur_twist x 1.85235
des_vel 2.04904
vel_error0.193958
cur_twist x 1.85508
des_vel 2.05278
vel_error0.192207
cur_twist x 1.86057
des_vel 2.05654
vel_error0.190822
cur_twist x 1.86571
des_vel 2.06028
vel_error0.189998
cur_twist x 1.87028
des_vel 2.06403
vel_error0.188572
cur_twist x 1.87546
des_vel 2.06778
vel_error0.189682
cur_twist x 1.8781
des_vel 2.07153
vel_error0.188089
cur_twist x 1.88344
des_vel 2.07529
vel_error0.18918
cur_twist x 1.88611
des_vel 2.07904
vel_error0.190296
cur_twist x 1.88874
des_vel 2.08278
vel_error0.188684
cur_twist x 1.8941
des_vel 2.08653
vel_error0.190937
cur_twist x 1.8956
des_vel 2.09028
vel_error0.189203
cur_twist x 1.90108
des_vel 2.09404
vel_error0.18341
cur_twist x 1.91063
des_vel 2.09778
vel_error0.183738
cur_twist x 1.91404
des_vel 2.10154
vel_error0.182801
cur_twist x 1.91874
des_vel 2.10528
vel_error0.186131
cur_twist x 1.91915
des_vel 2.10904
vel_error0.182049
cur_twist x 1.92699
des_vel 2.11278
vel_error0.183412
cur_twist x 1.92937
des_vel 2.11653
vel_error0.182274
cur_twist x 1.93426
des_vel 2.12028
vel_error0.180784
cur_twist x 1.9395
des_vel 2.12403
vel_error0.181745
cur_twist x 1.94229
des_vel 2.12779
vel_error0.182994
cur_twist x 1.94479
des_vel 2.13153
vel_error0.184092
cur_twist x 1.94744
des_vel 2.13528
vel_error0.182583
cur_twist x 1.9527
des_vel 2.13903
vel_error0.181833
cur_twist x 1.9572
des_vel 2.14278
vel_error0.181118
cur_twist x 1.96166
des_vel 2.14653
vel_error0.178952
cur_twist x 1.96758
des_vel 2.15028
vel_error0.180222
cur_twist x 1.97006
des_vel 2.15403
vel_error0.178851
cur_twist x 1.97518
des_vel 2.15778
vel_error0.1798
cur_twist x 1.97798
des_vel 2.16154
vel_error0.17849
cur_twist x 1.98305
des_vel 2.16528
vel_error0.179569
cur_twist x 1.98571
des_vel 2.16903
vel_error0.181903
cur_twist x 1.98713
des_vel 2.17278
vel_error0.180826
cur_twist x 1.99196
des_vel 2.17653
vel_error0.17573
cur_twist x 2.0008
des_vel 2.18028
vel_error0.175439
cur_twist x 2.00484
des_vel 2.18403
vel_error0.17297
cur_twist x 2.01106
des_vel 2.18779
vel_error0.175426
cur_twist x 2.01236
des_vel 2.19154
vel_error2.19218
cur_twist x -0.000639676
des_vel 2.19528
vel_error0.176811
cur_twist x 2.01847
des_vel 2.19903
vel_error2.1997
cur_twist x -0.000665798
des_vel 2.20278
vel_error0.181987
cur_twist x 2.0208
des_vel 2.20654
vel_error0.172276
cur_twist x 2.03426
des_vel 2.21028
vel_error0.170132
cur_twist x 2.04015
des_vel 2.21403
vel_error0.151072
cur_twist x 2.06296
des_vel 2.21778
vel_error0.122607
cur_twist x 2.09518
des_vel 2.22153
vel_error0.0850264
cur_twist x 2.13651
des_vel 2.22528
vel_error0.062201
cur_twist x 2.16308
des_vel 2.22931
vel_error0.0513062
cur_twist x 2.178
des_vel 2.23278
vel_error0.0425753
cur_twist x 2.19021
des_vel 2.23654
vel_error0.0275948
cur_twist x 2.20894
des_vel 2.24028
vel_error0.0313409
cur_twist x 2.20894
des_vel 2.24404
vel_error0.022814
cur_twist x 2.22122
des_vel 2.24778
vel_error0.0221378
cur_twist x 2.22564
des_vel 2.25153
vel_error0.0197796
cur_twist x 2.23175
des_vel 2.25528
vel_error0.0215932
cur_twist x 2.23369
des_vel 2.25903
vel_error0.022823
cur_twist x 2.23621
des_vel 2.26278
vel_error0.0260165
cur_twist x 2.23677
des_vel 2.26653
vel_error0.0299497
cur_twist x 2.23658
des_vel 2.27028
vel_error0.0336994
cur_twist x 2.23658
des_vel 2.27403
vel_error0.0393585
cur_twist x 2.23467
des_vel 2.27779
vel_error0.0448314
cur_twist x 2.23296
des_vel 2.28153
vel_error0.049479
cur_twist x 2.23205
des_vel 2.28528
vel_error0.0553752
cur_twist x 2.22991
des_vel 2.28904
vel_error0.0599558
cur_twist x 2.22908
des_vel 2.29278
vel_error0.0637014
cur_twist x 2.22908
des_vel 2.29653
vel_error0.0693839
cur_twist x 2.22715
des_vel 2.30028
vel_error0.0758892
cur_twist x 2.22439
des_vel 2.30403
vel_error0.0803595
cur_twist x 2.22367
des_vel 2.30778
vel_error0.0853026
cur_twist x 2.22248
des_vel 2.31154
vel_error0.0895175
cur_twist x 2.22202
des_vel 2.31528
vel_error0.0937374
cur_twist x 2.22155
des_vel 2.31904
vel_error2.32044
cur_twist x -0.00140396
des_vel 2.32279
vel_error0.102166
cur_twist x 2.22062
des_vel 2.32653
vel_error0.104844
cur_twist x 2.22169
des_vel 2.33029
vel_error0.108265
cur_twist x 2.22202
des_vel 2.33403
vel_error0.111084
cur_twist x 2.22295
des_vel 2.33779
vel_error0.110875
cur_twist x 2.22691
des_vel 2.34153
vel_error0.110155
cur_twist x 2.23138
des_vel 2.34528
vel_error0.104393
cur_twist x 2.24089
des_vel 2.34904
vel_error0.104196
cur_twist x 2.24484
des_vel 2.35278
vel_error0.101484
cur_twist x 2.2513
des_vel 2.35654
vel_error0.102594
cur_twist x 2.25394
des_vel 2.36029
vel_error0.101022
cur_twist x 2.25926
des_vel 2.36403
vel_error0.102662
cur_twist x 2.26137
des_vel 2.36778
vel_error0.102887
cur_twist x 2.26489
des_vel 2.37153
vel_error0.104427
cur_twist x 2.26711
des_vel 2.37528
vel_error0.106228
cur_twist x 2.26905
des_vel 2.37903
vel_error0.10683
cur_twist x 2.2722
des_vel 2.38278
vel_error0.107982
cur_twist x 2.2748
des_vel 2.38653
vel_error0.110986
cur_twist x 2.27555
des_vel 2.39028
vel_error0.11197
cur_twist x 2.27831
des_vel 2.39404
vel_error0.114427
cur_twist x 2.27961
des_vel 2.39779
vel_error2.39909
cur_twist x -0.00129857
des_vel 2.40153
vel_error0.119461
cur_twist x 2.28207
des_vel 2.40529
vel_error0.121642
cur_twist x 2.28364
des_vel 2.40903
vel_error0.123836
cur_twist x 2.2852
des_vel 2.41278
vel_error0.12279
cur_twist x 2.28999
des_vel 2.41653
vel_error0.122453
cur_twist x 2.29408
des_vel 2.42029
vel_error0.115845
cur_twist x 2.30444
des_vel 2.42403
vel_error0.112221
cur_twist x 2.31181
des_vel 2.42778
vel_error0.111951
cur_twist x 2.31583
des_vel 2.43153
vel_error0.10811
cur_twist x 2.32342
des_vel 2.43529
vel_error0.108612
cur_twist x 2.32668
des_vel 2.43903
vel_error0.106709
cur_twist x 2.33232
des_vel 2.44278
vel_error0.107925
cur_twist x 2.33486
des_vel 2.44653
vel_error0.109305
cur_twist x 2.33723
des_vel 2.45028
vel_error0.108781
cur_twist x 2.3415
des_vel 2.45404
vel_error0.108725
cur_twist x 2.34531
des_vel 2.45779
vel_error0.110697
cur_twist x 2.34709
des_vel 2.46153
vel_error0.110949
cur_twist x 2.35058
des_vel 2.46528
vel_error0.113015
cur_twist x 2.35227
des_vel 2.46903
vel_error0.112989
cur_twist x 2.35604
des_vel 2.47278
vel_error0.115529
cur_twist x 2.35725
des_vel 2.47653
vel_error0.115961
cur_twist x 2.36057
des_vel 2.48028
vel_error0.116338
cur_twist x 2.36394
des_vel 2.48403
vel_error0.118082
cur_twist x 2.36595
des_vel 2.48778
vel_error0.120363
cur_twist x 2.36742
des_vel 2.49153
vel_error0.120601
cur_twist x 2.37093
des_vel 2.49528
vel_error0.122595
cur_twist x 2.37269
des_vel 2.49903
vel_error0.12274
cur_twist x 2.37629
des_vel 2.50278
vel_error0.122989
cur_twist x 2.37979
des_vel 2.50654
vel_error0.126743
cur_twist x 2.37979
des_vel 2.51029
vel_error0.128692
cur_twist x 2.38159
des_vel 2.51403
vel_error0.130608
cur_twist x 2.38342
des_vel 2.3878
vel_error0
cur_twist x 2.3878
des_vel 2.39155
vel_error0.00200155
cur_twist x 2.38955
des_vel 2.3953
vel_error0.00129288
cur_twist x 2.394
des_vel 2.39905
vel_error0.00268088
cur_twist x 2.39637
des_vel 2.4028
vel_error0.000921472
cur_twist x 2.40188
des_vel 2.40655
vel_error0.00217178
cur_twist x 2.40438
des_vel 2.4103
vel_error0.00426254
cur_twist x 2.40603
des_vel 2.41405
vel_error0.00820361
cur_twist x 2.40584
des_vel 2.41781
vel_error0.013416
cur_twist x 2.40439
des_vel 2.42155
vel_error0.0228635
cur_twist x 2.39868
des_vel 2.4253
vel_error0.0328179
cur_twist x 2.39248
des_vel 2.42905
vel_error0.0448367
cur_twist x 2.38421
des_vel 2.4328
vel_error0.0529734
cur_twist x 2.37982
des_vel 2.43655
vel_error0.0611566
cur_twist x 2.37539
des_vel 2.4403
vel_error0.0738829
cur_twist x 2.36642
des_vel 2.44405
vel_error0.082117
cur_twist x 2.36193
des_vel 2.4478
vel_error0.0947351
cur_twist x 2.35306
des_vel 2.45155
vel_error0.102814
cur_twist x 2.34874
des_vel 2.4553
vel_error0.11486
cur_twist x 2.34044
des_vel 2.45905
vel_error0.122322
cur_twist x 2.33673
des_vel 2.4628
vel_error0.133299
cur_twist x 2.3295
des_vel 2.46655
vel_error0.140459
cur_twist x 2.32609
des_vel 2.4703
vel_error0.150502
cur_twist x 2.3198
des_vel 2.47405
vel_error0.157207
cur_twist x 2.31684
des_vel 2.4778
vel_error0.166232
cur_twist x 2.31157
des_vel 2.48155
vel_error0.172415
cur_twist x 2.30913
des_vel 2.4853
vel_error0.181817
cur_twist x 2.30348
des_vel 2.48905
vel_error0.186624
cur_twist x 2.30243
des_vel 2.4928
vel_error0.193155
cur_twist x 2.29964
des_vel 2.49655
vel_error0.198268
cur_twist x 2.29828
des_vel 2.5003
vel_error0.204467
cur_twist x 2.29583
des_vel 2.50405
vel_error0.210687
cur_twist x 2.29336
des_vel 2.5078
vel_error0.214791
cur_twist x 2.29301
des_vel 2.51155
vel_error0.21939
cur_twist x 2.29216
des_vel 2.5153
vel_error0.223777
cur_twist x 2.29152
des_vel 2.51905
vel_error0.228316
cur_twist x 2.29073
des_vel 2.5228
vel_error0.231455
cur_twist x 2.29134
des_vel 2.52655
vel_error2.52787
cur_twist x -0.00132698
des_vel 2.5303
vel_error0.238695
cur_twist x 2.2916
des_vel 2.53405
vel_error0.242999
cur_twist x 2.29105
des_vel 2.5378
vel_error0.244039
cur_twist x 2.29376
des_vel 2.54155
vel_error0.245529
cur_twist x 2.29602
des_vel 2.5453
vel_error0.240811
cur_twist x 2.30449
des_vel 2.54905
vel_error0.244562
cur_twist x 2.30449
des_vel 2.5528
vel_error0.235666
cur_twist x 2.31713
des_vel 2.55655
vel_error0.235955
cur_twist x 2.32059
des_vel 2.5603
vel_error0.236621
cur_twist x 2.32368
des_vel 2.56405
vel_error2.56556
cur_twist x -0.00151621
des_vel 2.5678
vel_error0.238783
cur_twist x 2.32901
des_vel 2.57155
vel_error0.236872
cur_twist x 2.33468
des_vel 2.5753
vel_error0.240623
cur_twist x 2.33468
des_vel 2.57905
vel_error0.239941
cur_twist x 2.33911
des_vel 2.5828
vel_error0.240595
cur_twist x 2.3422
des_vel 2.58655
vel_error0.23645
cur_twist x 2.3501
des_vel 2.5903
vel_error0.237928
cur_twist x 2.35237
des_vel 2.59405
vel_error0.235916
cur_twist x 2.35813
des_vel 2.5978
vel_error0.237034
cur_twist x 2.36076
des_vel 2.60155
vel_error0.235869
cur_twist x 2.36568
des_vel 2.6053
vel_error0.23507
cur_twist x 2.37023
des_vel 2.60905
vel_error0.236676
cur_twist x 2.37237
des_vel 2.6128
vel_error0.236354
cur_twist x 2.37644
des_vel 2.61655
vel_error0.238133
cur_twist x 2.37841
des_vel 2.6203
vel_error0.237949
cur_twist x 2.38235
des_vel 2.62405
vel_error0.240061
cur_twist x 2.38399
des_vel 2.6278
vel_error0.240213
cur_twist x 2.38759
des_vel 2.63155
vel_error0.242172
cur_twist x 2.38938
des_vel 2.6353
vel_error0.242175
cur_twist x 2.39312
des_vel 2.63905
vel_error0.244338
cur_twist x 2.39471
des_vel 2.6428
vel_error0.244476
cur_twist x 2.39832
des_vel 2.64655
vel_error0.246418
cur_twist x 2.40013
des_vel 2.6503
vel_error0.248334
cur_twist x 2.40197
des_vel 2.65405
vel_error0.248224
cur_twist x 2.40582
des_vel 2.6578
vel_error0.248278
cur_twist x 2.40952
des_vel 2.66155
vel_error0.249995
cur_twist x 2.41156
des_vel 2.6653
vel_error0.249558
cur_twist x 2.41574
des_vel 2.66905
vel_error0.251187
cur_twist x 2.41786
des_vel 2.6728
vel_error0.250743
cur_twist x 2.42206
des_vel 2.67655
vel_error0.252245
cur_twist x 2.4243
des_vel 2.6803
vel_error0.251517
cur_twist x 2.42878
des_vel 2.68405
vel_error0.250751
cur_twist x 2.4333
des_vel 2.6878
vel_error0.251915
cur_twist x 2.43588
des_vel 2.69155
vel_error0.251488
cur_twist x 2.44006
des_vel 2.6953
vel_error0.252843
cur_twist x 2.44246
des_vel 2.69905
vel_error0.251749
cur_twist x 2.4473
des_vel 2.7028
vel_error0.253056
cur_twist x 2.44974
des_vel 2.70655
vel_error0.254358
cur_twist x 2.45219
des_vel 2.7103
vel_error0.253151
cur_twist x 2.45715
des_vel 2.71405
vel_error0.254408
cur_twist x 2.45964
des_vel 2.7178
vel_error0.253105
cur_twist x 2.46469
des_vel 2.72155
vel_error0.253833
cur_twist x 2.46771
des_vel 2.7253
vel_error0.252893
cur_twist x 2.4724
des_vel 2.72905
vel_error0.25406
cur_twist x 2.47499
des_vel 2.7328
vel_error0.252641
cur_twist x 2.48016
des_vel 2.73655
vel_error0.250465
cur_twist x 2.48608
des_vel 2.7403
vel_error0.252405
cur_twist x 2.48789
des_vel 2.74405
vel_error0.250952
cur_twist x 2.4931
des_vel 2.7478
vel_error0.252096
cur_twist x 2.4957
des_vel 2.75155
vel_error0.250657
cur_twist x 2.50089
des_vel 2.7553
vel_error0.251534
cur_twist x 2.50376
des_vel 2.75905
vel_error0.250208
cur_twist x 2.50884
des_vel 2.7628
vel_error0.251295
cur_twist x 2.5115
des_vel 2.76655
vel_error0.252341
cur_twist x 2.51421
des_vel 2.7703
vel_error0.250709
cur_twist x 2.51959
des_vel 2.77405
vel_error0.249034
cur_twist x 2.52501
des_vel 2.7778
vel_error0.250187
cur_twist x 2.52761
des_vel 2.78155
vel_error0.24849
cur_twist x 2.53306
des_vel 2.7853
vel_error0.249536
cur_twist x 2.53576
des_vel 2.78905
vel_error0.247179
cur_twist x 2.54187
des_vel 2.7928
vel_error0.248816
cur_twist x 2.54398
des_vel 2.79655
vel_error0.24706
cur_twist x 2.54949
des_vel 2.8003
vel_error0.248029
cur_twist x 2.55227
des_vel 2.80405
vel_error0.246258
cur_twist x 2.55779
des_vel 2.8078
vel_error0.246571
cur_twist x 2.56123
des_vel 2.81155
vel_error0.245379
cur_twist x 2.56617
des_vel 2.8153
vel_error0.246298
cur_twist x 2.569
des_vel 2.81905
vel_error0.244494
cur_twist x 2.57455
des_vel 2.8228
vel_error0.245473
cur_twist x 2.57733
des_vel 2.82655
vel_error0.243696
cur_twist x 2.58285
des_vel 2.8303
vel_error0.244664
cur_twist x 2.58564
des_vel 2.83405
vel_error0.242888
cur_twist x 2.59116
des_vel 2.8378
vel_error0.243846
cur_twist x 2.59395
des_vel 2.84155
vel_error0.241576
cur_twist x 2.59997
des_vel 2.8453
vel_error0.24288
cur_twist x 2.60242
des_vel 2.84905
vel_error0.241003
cur_twist x 2.60804
des_vel 2.8528
vel_error0.241946
cur_twist x 2.61085
des_vel 2.85655
vel_error0.240085
cur_twist x 2.61647
des_vel 2.8603
vel_error0.241
cur_twist x 2.6193
des_vel 2.86405
vel_error0.239142
cur_twist x 2.62491
des_vel 2.8678
vel_error0.240089
cur_twist x 2.62771
des_vel 2.87155
vel_error0.238221
cur_twist x 2.63333
des_vel 2.8753
vel_error0.238927
cur_twist x 2.63637
des_vel 2.87905
vel_error0.237306
cur_twist x 2.64175
des_vel 2.8828
vel_error0.238255
cur_twist x 2.64454
des_vel 2.88655
vel_error0.236401
cur_twist x 2.65015
des_vel 2.8903
vel_error0.237356
cur_twist x 2.65294
des_vel 2.89405
vel_error0.23559
cur_twist x 2.65846
des_vel 2.8978
vel_error0.236572
cur_twist x 2.66122
des_vel 2.90155
vel_error0.234764
cur_twist x 2.66678
des_vel 2.9053
vel_error0.235747
cur_twist x 2.66955
des_vel 2.90905
vel_error0.233443
cur_twist x 2.6756
des_vel 2.9128
vel_error0.234791
cur_twist x 2.67801
des_vel 2.91655
vel_error0.232921
cur_twist x 2.68363
des_vel 2.9203
vel_error0.233843
cur_twist x 2.68645
des_vel 2.92405
vel_error0.231996
cur_twist x 2.69205
des_vel 2.9278
vel_error0.232683
cur_twist x 2.69512
des_vel 2.93155
vel_error0.231075
cur_twist x 2.70047
des_vel 2.9353
vel_error0.231995
cur_twist x 2.7033
des_vel 2.93905
vel_error0.230155
cur_twist x 2.70889
des_vel 2.9428
vel_error0.231124
cur_twist x 2.71167
des_vel 2.94655
vel_error0.229347
cur_twist x 2.7172
des_vel 2.9503
vel_error0.230326
cur_twist x 2.71997
des_vel 2.95405
vel_error0.228537
cur_twist x 2.72551
des_vel 2.9578
vel_error0.229525
cur_twist x 2.72827
des_vel 2.96155
vel_error0.227797
cur_twist x 2.73375
des_vel 2.9653
vel_error0.228776
cur_twist x 2.73652
des_vel 2.96905
vel_error0.229773
cur_twist x 2.73927
des_vel 2.9728
vel_error0.228003
cur_twist x 2.7448
des_vel 2.97655
vel_error0.228981
cur_twist x 2.74757
des_vel 2.9803
vel_error0.227154
cur_twist x 2.75315
des_vel 2.98405
vel_error0.22812
cur_twist x 2.75593
des_vel 2.9878
vel_error0.226293
cur_twist x 2.7615
des_vel 2.99155
vel_error0.227261
cur_twist x 2.76429
des_vel 2.9953
vel_error0.228226
cur_twist x 2.76707
des_vel 2.99905
vel_error0.226455
cur_twist x 2.7726
des_vel 3.0028
vel_error0.227421
cur_twist x 2.77538
des_vel 3.00655
vel_error0.22289
cur_twist x 2.78366
des_vel 3.0103
vel_error0.221003
cur_twist x 2.78929
des_vel 3.01405
vel_error0.221931
cur_twist x 2.79212
des_vel 3.0178
vel_error0.220015
cur_twist x 2.79778
des_vel 3.02155
vel_error0.220812
cur_twist x 2.80073
des_vel 3.0253
vel_error0.222031
cur_twist x 2.80327
des_vel 3.02905
vel_error0.220332
cur_twist x 2.80872
des_vel 3.0328
vel_error0.221385
cur_twist x 2.81141
des_vel 3.03655
vel_error0.219708
cur_twist x 2.81684
des_vel 3.0403
vel_error0.220624
cur_twist x 2.81968
des_vel 3.04405
vel_error0.218989
cur_twist x 2.82506
des_vel 3.0478
vel_error0.219955
cur_twist x 2.82785
des_vel 3.05155
vel_error0.220938
cur_twist x 2.83061
des_vel 3.0553
vel_error0.219163
cur_twist x 2.83613
des_vel 3.05905
vel_error0.220018
cur_twist x 2.83903
des_vel 3.0628
vel_error0.21843
cur_twist x 2.84437
des_vel 3.06655
vel_error0.219396
cur_twist x 2.84715
des_vel 3.0703
vel_error0.21759
cur_twist x 2.85271
des_vel 3.07405
vel_error0.218575
cur_twist x 2.85547
des_vel 3.07779
vel_error0.216854
cur_twist x 2.86094
des_vel 3.08155
vel_error0.217871
cur_twist x 2.86368
des_vel 3.0853
vel_error0.218872
cur_twist x 2.86642
des_vel 3.08905
vel_error0.213606
cur_twist x 2.87544
des_vel 3.0928
vel_error0.215494
cur_twist x 2.8773
des_vel 3.09655
vel_error0.213785
cur_twist x 2.88276
des_vel 3.1003
vel_error0.214726
cur_twist x 2.88557
des_vel 3.10405
vel_error0.212975
cur_twist x 2.89107
des_vel 3.1078
vel_error0.213876
cur_twist x 2.89392
des_vel 3.11155
vel_error0.214922
cur_twist x 2.89662
des_vel 3.1153
vel_error0.213086
cur_twist x 2.90222
des_vel 3.11905
vel_error0.214007
cur_twist x 2.90504
des_vel 3.1228
vel_error0.212211
cur_twist x 2.91059
des_vel 3.12655
vel_error0.213141
cur_twist x 2.91341
des_vel 3.1303
vel_error0.214074
cur_twist x 2.91623
des_vel 3.13405
vel_error0.212241
cur_twist x 2.92181
des_vel 3.1378
vel_error0.213195
cur_twist x 2.9246
des_vel 3.14155
vel_error0.210922
cur_twist x 2.93063
des_vel 3.1453
vel_error0.212258
cur_twist x 2.93304
des_vel 3.14905
vel_error0.207458
cur_twist x 2.94159
des_vel 3.1528
vel_error0.208348
cur_twist x 2.94445
des_vel 3.15655
vel_error0.206503
cur_twist x 2.95004
des_vel 3.1603
vel_error0.207397
cur_twist x 2.9529
des_vel 3.16405
vel_error0.208333
cur_twist x 2.95571
des_vel 3.1678
vel_error0.2065
cur_twist x 2.9613
des_vel 3.17155
vel_error0.207452
cur_twist x 2.9641
des_vel 3.1753
vel_error0.205586
cur_twist x 2.96971
des_vel 3.17905
vel_error0.206515
cur_twist x 2.97253
des_vel 3.1828
vel_error0.204668
cur_twist x 2.97813
des_vel 3.18655
vel_error0.205624
cur_twist x 2.98092
des_vel 3.1903
vel_error0.203796
cur_twist x 2.9865
des_vel 3.19405
vel_error0.20212
cur_twist x 2.99193
des_vel 3.1978
vel_error0.20315
cur_twist x 2.99465
des_vel 3.20155
vel_error0.204148
cur_twist x 2.9974
des_vel 3.2053
vel_error0.202463
cur_twist x 3.00284
des_vel 3.20905
vel_error0.203535
cur_twist x 3.00551
des_vel 3.2128
vel_error0.201879
cur_twist x 3.01092
des_vel 3.21655
vel_error0.202913
cur_twist x 3.01363
des_vel 3.2203
vel_error0.198224
cur_twist x 3.02207
des_vel 3.22405
vel_error0.199415
cur_twist x 3.02463
des_vel 3.2278
vel_error0.197681
cur_twist x 3.03012
des_vel 3.23155
vel_error3.23293
cur_twist x -0.00137911
des_vel 3.2353
vel_error0.202444
cur_twist x 3.03285
des_vel 3.23905
vel_error0.20094
cur_twist x 3.03811
des_vel 3.2428
vel_error0.2016
cur_twist x 3.0412
des_vel 3.24655
vel_error0.200409
cur_twist x 3.04614
des_vel 3.2503
vel_error0.200451
cur_twist x 3.04985
des_vel 3.25405
vel_error0.18668
cur_twist x 3.06737
des_vel 3.2578
vel_error0.179119
cur_twist x 3.07868
des_vel 3.26155
vel_error0.177731
cur_twist x 3.08382
des_vel 3.2653
vel_error0.172085
cur_twist x 3.09321
des_vel 3.26904
vel_error0.171683
cur_twist x 3.09736
des_vel 3.2728
vel_error0.171678
cur_twist x 3.10112
des_vel 3.27655
vel_error0.168582
cur_twist x 3.10796
des_vel 3.2803
vel_error0.169242
cur_twist x 3.11105
des_vel 3.28405
vel_error0.170075
cur_twist x 3.11397
des_vel 3.2878
vel_error0.16829
cur_twist x 3.11951
des_vel 3.29155
vel_error0.166948
cur_twist x 3.1246
des_vel 3.2953
vel_error0.168258
cur_twist x 3.12704
des_vel 3.29905
vel_error0.167215
cur_twist x 3.13183
des_vel 3.3028
vel_error0.168667
cur_twist x 3.13413
des_vel 3.30655
vel_error0.167198
cur_twist x 3.13935
des_vel 3.3103
vel_error0.169324
cur_twist x 3.14097
des_vel 3.31405
vel_error0.168598
cur_twist x 3.14545
des_vel 3.3178
vel_error0.170109
cur_twist x 3.14769
des_vel 3.32155
vel_error0.169398
cur_twist x 3.15215
des_vel 3.3253
vel_error0.17058
cur_twist x 3.15472
des_vel 3.32905
vel_error0.170151
cur_twist x 3.1589
des_vel 3.3328
vel_error0.171634
cur_twist x 3.16116
des_vel 3.33655
vel_error0.170852
cur_twist x 3.1657
des_vel 3.3403
vel_error0.172317
cur_twist x 3.16798
des_vel 3.34405
vel_error0.171525
cur_twist x 3.17252
des_vel 3.3478
vel_error0.170668
cur_twist x 3.17713
des_vel 3.35155
vel_error0.174424
cur_twist x 3.17713
des_vel 3.3553
vel_error0.171142
cur_twist x 3.18415
des_vel 3.35905
vel_error0.172238
cur_twist x 3.18681
des_vel 3.3628
vel_error0.171612
cur_twist x 3.19118
des_vel 3.36655
vel_error0.175363
cur_twist x 3.19118
des_vel 3.3703
vel_error0.176751
cur_twist x 3.19355
des_vel 3.37405
vel_error0.175857
cur_twist x 3.19819
des_vel 3.3778
vel_error0.174772
cur_twist x 3.20303
des_vel 3.38155
vel_error0.176281
cur_twist x 3.20527
des_vel 3.3853
vel_error0.175149
cur_twist x 3.21015
des_vel 3.38905
vel_error0.176382
cur_twist x 3.21267
des_vel 3.3928
vel_error0.175145
cur_twist x 3.21765
des_vel 3.39655
vel_error0.176245
cur_twist x 3.2203
des_vel 3.4003
vel_error0.175006
cur_twist x 3.22529
des_vel 3.40405
vel_error0.176212
cur_twist x 3.22784
des_vel 3.4078
vel_error0.17485
cur_twist x 3.23295
des_vel 3.41155
vel_error0.176037
cur_twist x 3.23551
des_vel 3.4153
vel_error0.174712
cur_twist x 3.24058
des_vel 3.41905
vel_error0.173362
cur_twist x 3.24569
des_vel 3.4228
vel_error0.174541
cur_twist x 3.24826
des_vel 3.42655
vel_error0.173156
cur_twist x 3.25339
des_vel 3.4303
vel_error0.17386
cur_twist x 3.25644
des_vel 3.43405
vel_error0.172915
cur_twist x 3.26113
des_vel 3.4378
vel_error0.174077
cur_twist x 3.26372
des_vel 3.44155
vel_error0.172613
cur_twist x 3.26893
des_vel 3.4453
vel_error0.173717
cur_twist x 3.27158
des_vel 3.44905
vel_error0.172206
cur_twist x 3.27684
des_vel 3.4528
vel_error0.173303
cur_twist x 3.27949
des_vel 3.45655
vel_error0.17175
cur_twist x 3.2848
des_vel 3.4603
vel_error0.172817
cur_twist x 3.28748
des_vel 3.46405
vel_error0.171213
cur_twist x 3.29284
des_vel 3.4678
vel_error0.172277
cur_twist x 3.29552
des_vel 3.47155
vel_error0.17066
cur_twist x 3.30089
des_vel 3.4753
vel_error0.171622
cur_twist x 3.30367
des_vel 3.47905
vel_error0.172769
cur_twist x 3.30628
des_vel 3.4828
vel_error0.171118
cur_twist x 3.31168
des_vel 3.48655
vel_error0.172169
cur_twist x 3.31438
des_vel 3.4903
vel_error0.170494
cur_twist x 3.3198
des_vel 3.49405
vel_error0.16989
cur_twist x 3.32416
des_vel 3.4978
vel_error0.169806
cur_twist x 3.32799
des_vel 3.50155
vel_error0.170826
cur_twist x 3.33072
des_vel 3.5053
vel_error0.169144
cur_twist x 3.33615
des_vel 3.50905
vel_error0.1675
cur_twist x 3.34155
des_vel 3.5128
vel_error0.168568
cur_twist x 3.34423
des_vel 3.34963
vel_error0
cur_twist x 3.34963
des_vel 3.35338
vel_error0.00106738
cur_twist x 3.35231
des_vel 3.35713
vel_error-0.000483356
cur_twist x 3.35762
des_vel 3.36088
vel_error0.000617781
cur_twist x 3.36026
des_vel 3.36463
vel_error-0.00149369
cur_twist x 3.36612
des_vel 3.36838
vel_error0.000300397
cur_twist x 3.36808
des_vel 3.37213
vel_error0.00482108
cur_twist x 3.36731
des_vel 3.37588
vel_error0.0102731
cur_twist x 3.36561
des_vel 3.37963
vel_error0.0206411
cur_twist x 3.35899
des_vel 3.38338
vel_error0.028781
cur_twist x 3.3546
des_vel 3.38713
vel_error0.0428724
cur_twist x 3.34426
des_vel 3.39088
vel_error0.0530534
cur_twist x 3.33783
des_vel 3.39463
vel_error0.068263
cur_twist x 3.32637
des_vel 3.39838
vel_error0.0782992
cur_twist x 3.32008
des_vel 3.40213
vel_error0.0946669
cur_twist x 3.30746
des_vel 3.40588
vel_error0.104656
cur_twist x 3.30122
des_vel 3.40963
vel_error0.120639
cur_twist x 3.28899
des_vel 3.41338
vel_error0.130354
cur_twist x 3.28303
des_vel 3.41713
vel_error0.139862
cur_twist x 3.27727
des_vel 3.42088
vel_error0.154575
cur_twist x 3.2663
des_vel 3.42463
vel_error0.168264
cur_twist x 3.25637
des_vel 3.42838
vel_error0.176761
cur_twist x 3.25162
des_vel 3.43213
vel_error0.185031
cur_twist x 3.2471
des_vel 3.43588
vel_error0.197124
cur_twist x 3.23876
des_vel 3.43963
vel_error0.205785
cur_twist x 3.23385
des_vel 3.44338
vel_error0.215232
cur_twist x 3.22815
des_vel 3.44713
vel_error0.222153
cur_twist x 3.22498
des_vel 3.45088
vel_error0.231573
cur_twist x 3.21931
des_vel 3.45463
vel_error0.240454
cur_twist x 3.21418
des_vel 3.45838
vel_error0.245865
cur_twist x 3.21252
des_vel 3.46213
vel_error0.253201
cur_twist x 3.20893
des_vel 3.46588
vel_error0.258452
cur_twist x 3.20743
des_vel 3.46963
vel_error0.264928
cur_twist x 3.20471
des_vel 3.47338
vel_error0.269439
cur_twist x 3.20394
des_vel 3.47713
vel_error0.274746
cur_twist x 3.20238
des_vel 3.48088
vel_error0.279049
cur_twist x 3.20183
des_vel 3.48463
vel_error0.283482
cur_twist x 3.20115
des_vel 3.48838
vel_error0.287352
cur_twist x 3.20103
des_vel 3.49213
vel_error0.290932
cur_twist x 3.2012
des_vel 3.49588
vel_error0.294413
cur_twist x 3.20147
des_vel 3.49963
vel_error0.297288
cur_twist x 3.20234
des_vel 3.50338
vel_error0.300439
cur_twist x 3.20294
des_vel 3.50713
vel_error0.302679
cur_twist x 3.20445
des_vel 3.51088
vel_error0.30552
cur_twist x 3.20536
des_vel 3.51463
vel_error0.307193
cur_twist x 3.20744
des_vel 3.51838
vel_error0.309327
cur_twist x 3.20905
des_vel 3.52213
vel_error0.310946
cur_twist x 3.21118
des_vel 3.52588
vel_error0.31328
cur_twist x 3.2126
des_vel 3.52963
vel_error0.315546
cur_twist x 3.21409
des_vel 3.53338
vel_error0.316141
cur_twist x 3.21724
des_vel 3.53713
vel_error0.316471
cur_twist x 3.22066
des_vel 3.54088
vel_error0.318418
cur_twist x 3.22247
des_vel 3.54463
vel_error0.318377
cur_twist x 3.22625
des_vel 3.54838
vel_error0.32016
cur_twist x 3.22822
des_vel 3.55213
vel_error0.319221
cur_twist x 3.23291
des_vel 3.55588
vel_error0.321447
cur_twist x 3.23443
des_vel 3.55963
vel_error0.320836
cur_twist x 3.23879
des_vel 3.56338
vel_error0.322357
cur_twist x 3.24103
des_vel 3.56713
vel_error0.321515
cur_twist x 3.24562
des_vel 3.57088
vel_error0.322612
cur_twist x 3.24827
des_vel 3.57463
vel_error0.321842
cur_twist x 3.25279
des_vel 3.57838
vel_error0.323171
cur_twist x 3.25521
des_vel 3.58213
vel_error0.321951
cur_twist x 3.26018
des_vel 3.58588
vel_error0.320375
cur_twist x 3.2655
des_vel 3.58963
vel_error0.321893
cur_twist x 3.26774
des_vel 3.59338
vel_error0.320504
cur_twist x 3.27288
des_vel 3.59713
vel_error0.321669
cur_twist x 3.27546
des_vel 3.60087
vel_error0.319752
cur_twist x 3.28112
des_vel 3.60463
vel_error0.321305
cur_twist x 3.28332
des_vel 3.60838
vel_error0.322424
cur_twist x 3.28596
des_vel 3.61213
vel_error0.320882
cur_twist x 3.29125
des_vel 3.61588
vel_error0.321987
cur_twist x 3.29389
des_vel 3.61963
vel_error0.319536
cur_twist x 3.3001
des_vel 3.62338
vel_error0.321429
cur_twist x 3.30196
des_vel 3.62713
vel_error0.319687
cur_twist x 3.30744
des_vel 3.63088
vel_error0.320668
cur_twist x 3.31021
des_vel 3.63463
vel_error0.318817
cur_twist x 3.31581
des_vel 3.63838
vel_error0.322567
cur_twist x 3.31581
des_vel 3.64213
vel_error0.320626
cur_twist x 3.32151
des_vel 3.64588
vel_error0.318642
cur_twist x 3.32724
des_vel 3.64963
vel_error0.319509
cur_twist x 3.33012
des_vel 3.65338
vel_error0.317413
cur_twist x 3.33597
des_vel 3.65713
vel_error0.31765
cur_twist x 3.33948
des_vel 3.66088
vel_error0.316191
cur_twist x 3.34469
des_vel 3.66463
vel_error0.317055
cur_twist x 3.34757
des_vel 3.66838
vel_error0.315001
cur_twist x 3.35338
des_vel 3.67213
vel_error0.315835
cur_twist x 3.3563
des_vel 3.67588
vel_error0.313768
cur_twist x 3.36211
des_vel 3.67963
vel_error0.314612
cur_twist x 3.36502
des_vel 3.68338
vel_error0.318362
cur_twist x 3.36502
des_vel 3.68713
vel_error0.310773
cur_twist x 3.37636
des_vel 3.69088
vel_error0.311268
cur_twist x 3.37962
des_vel 3.69463
vel_error0.312134
cur_twist x 3.3825
des_vel 3.69838
vel_error0.309915
cur_twist x 3.38846
des_vel 3.70213
vel_error0.310595
cur_twist x 3.39154
des_vel 3.70588
vel_error0.308217
cur_twist x 3.39766
des_vel 3.70963
vel_error0.308911
cur_twist x 3.40072
des_vel 3.71338
vel_error0.306583
cur_twist x 3.4068
des_vel 3.71713
vel_error0.304331
cur_twist x 3.4128
des_vel 3.72088
vel_error0.304187
cur_twist x 3.41669
des_vel 3.72463
vel_error0.305929
cur_twist x 3.4187
des_vel 3.72838
vel_error0.303823
cur_twist x 3.42456
des_vel 3.73213
vel_error0.304706
cur_twist x 3.42743
des_vel 3.73588
vel_error0.30268
cur_twist x 3.4332
des_vel 3.73963
vel_error0.302766
cur_twist x 3.43686
des_vel 3.74338
vel_error0.301365
cur_twist x 3.44202
des_vel 3.74713
vel_error0.299257
cur_twist x 3.44788
des_vel 3.75088
vel_error0.300112
cur_twist x 3.45077
des_vel 3.75463
vel_error0.29661
cur_twist x 3.45802
des_vel 3.75838
vel_error0.298885
cur_twist x 3.45949
des_vel 3.76213
vel_error0.296962
cur_twist x 3.46517
des_vel 3.76588
vel_error0.297832
cur_twist x 3.46805
des_vel 3.76963
vel_error0.295831
cur_twist x 3.4738
des_vel 3.77338
vel_error0.296492
cur_twist x 3.47689
des_vel 3.77713
vel_error0.29747
cur_twist x 3.47966
des_vel 3.78088
vel_error0.295374
cur_twist x 3.48551
des_vel 3.78463
vel_error0.296193
cur_twist x 3.48844
des_vel 3.78838
vel_error0.294059
cur_twist x 3.49432
des_vel 3.79213
vel_error0.294155
cur_twist x 3.49798
des_vel 3.79588
vel_error0.292656
cur_twist x 3.50322
des_vel 3.79963
vel_error0.293463
cur_twist x 3.50617
des_vel 3.80338
vel_error0.291337
cur_twist x 3.51204
des_vel 3.80713
vel_error0.292169
cur_twist x 3.51496
des_vel 3.81088
vel_error0.290126
cur_twist x 3.52075
des_vel 3.81463
vel_error0.290988
cur_twist x 3.52365
des_vel 3.81838
vel_error0.288954
cur_twist x 3.52943
des_vel 3.82213
vel_error0.289825
cur_twist x 3.53231
des_vel 3.82591
vel_error0.287144
cur_twist x 3.53877
des_vel 3.82963
vel_error0.290863
cur_twist x 3.53877
des_vel 3.83338
vel_error0.286638
cur_twist x 3.54674
des_vel 3.83713
vel_error0.284341
cur_twist x 3.55279
des_vel 3.84088
vel_error0.284663
cur_twist x 3.55622
des_vel 3.84463
vel_error0.286199
cur_twist x 3.55843
des_vel 3.84838
vel_error0.284145
cur_twist x 3.56423
des_vel 3.85213
vel_error0.285062
cur_twist x 3.56707
des_vel 3.85588
vel_error0.283082
cur_twist x 3.5728
des_vel 3.85963
vel_error0.28324
cur_twist x 3.57639
des_vel 3.86338
vel_error0.281824
cur_twist x 3.58156
des_vel 3.86713
vel_error0.282675
cur_twist x 3.58445
des_vel 3.87088
vel_error0.277643
cur_twist x 3.59324
des_vel 3.87463
vel_error0.278456
cur_twist x 3.59618
des_vel 3.87838
vel_error0.279284
cur_twist x 3.5991
des_vel 3.88213
vel_error0.277206
cur_twist x 3.60493
des_vel 3.88588
vel_error0.278128
cur_twist x 3.60775
des_vel 3.88963
vel_error0.275728
cur_twist x 3.6139
des_vel 3.89338
vel_error0.277068
cur_twist x 3.61631
des_vel 3.89713
vel_error0.275066
cur_twist x 3.62207
des_vel 3.90088
vel_error0.275915
cur_twist x 3.62496
des_vel 3.90463
vel_error0.27386
cur_twist x 3.63077
des_vel 3.90838
vel_error0.273924
cur_twist x 3.63446
des_vel 3.91213
vel_error0.272589
cur_twist x 3.63954
des_vel 3.91588
vel_error0.273382
cur_twist x 3.6425
des_vel 3.91963
vel_error0.271253
cur_twist x 3.64838
des_vel 3.92338
vel_error0.271613
cur_twist x 3.65177
des_vel 3.92713
vel_error0.26999
cur_twist x 3.65714
des_vel 3.93088
vel_error0.270804
cur_twist x 3.66008
des_vel 3.93463
vel_error0.271618
cur_twist x 3.66301
des_vel 3.93838
vel_error0.269535
cur_twist x 3.66885
des_vel 3.94213
vel_error0.268933
cur_twist x 3.6732
des_vel 3.94588
vel_error0.268376
cur_twist x 3.6775
des_vel 3.94963
vel_error0.269223
cur_twist x 3.68041
des_vel 3.95338
vel_error0.267155
cur_twist x 3.68623
des_vel 3.95713
vel_error0.26802
cur_twist x 3.68911
des_vel 3.96088
vel_error0.266005
cur_twist x 3.69488
des_vel 3.96463
vel_error0.266854
cur_twist x 3.69778
des_vel 3.96839
vel_error0.267711
cur_twist x 3.70068
des_vel 3.97213
vel_error0.265704
cur_twist x 3.70643
des_vel 3.97588
vel_error0.263755
cur_twist x 3.71212
des_vel 3.97963
vel_error0.264661
cur_twist x 3.71497
des_vel 3.98339
vel_error0.262647
cur_twist x 3.72074
des_vel 3.98713
vel_error0.263475
cur_twist x 3.72366
des_vel 3.99088
vel_error0.261056
cur_twist x 3.72983
des_vel 3.99463
vel_error0.262313
cur_twist x 3.73232
des_vel 3.99838
vel_error0.263208
cur_twist x 3.73518
des_vel 4.00213
vel_error0.261238
cur_twist x 3.74089
des_vel 4.00588
vel_error0.259256
cur_twist x 3.74662
des_vel 4.00963
vel_error0.259541
cur_twist x 3.75009
des_vel 4.01338
vel_error0.258
cur_twist x 3.75538
des_vel 4.01713
vel_error0.258815
cur_twist x 3.75832
des_vel 4.02088
vel_error0.259637
cur_twist x 3.76124
des_vel 4.02463
vel_error0.257622
cur_twist x 3.76701
des_vel 4.02838
vel_error0.25567
cur_twist x 3.77271
des_vel 4.03213
vel_error0.256585
cur_twist x 3.77555
des_vel 4.03588
vel_error0.256097
cur_twist x 3.77978
des_vel 4.03963
vel_error0.257583
cur_twist x 3.78205
des_vel 4.04338
vel_error0.255666
cur_twist x 3.78772
des_vel 4.04713
vel_error0.257213
cur_twist x 3.78992
des_vel 4.05088
vel_error0.258784
cur_twist x 3.7921
des_vel 4.05463
vel_error0.261026
cur_twist x 3.7936
des_vel 4.05838
vel_error0.260371
cur_twist x 3.79801
des_vel 4.06213
vel_error0.261587
cur_twist x 3.80054
des_vel 4.06588
vel_error0.25988
cur_twist x 3.806
des_vel 4.06963
vel_error0.260772
cur_twist x 3.80886
des_vel 4.07338
vel_error0.261609
cur_twist x 3.81177
des_vel 4.07713
vel_error0.258686
cur_twist x 3.81844
des_vel 4.08088
vel_error0.254067
cur_twist x 3.82682
des_vel 4.08463
vel_error0.25474
cur_twist x 3.82989
des_vel 4.08838
vel_error0.252379
cur_twist x 3.836
des_vel 4.09213
vel_error0.253138
cur_twist x 3.839
des_vel 4.09588
vel_error0.253935
cur_twist x 3.84194
des_vel 4.09963
vel_error0.252586
cur_twist x 3.84705
des_vel 4.10338
vel_error0.253746
cur_twist x 3.84963
des_vel 4.10713
vel_error0.251774
cur_twist x 3.85536
des_vel 4.11088
vel_error0.252818
cur_twist x 3.85806
des_vel 4.11463
vel_error0.249625
cur_twist x 3.86501
des_vel 4.11838
vel_error0.249901
cur_twist x 3.86848
des_vel 4.12213
vel_error0.250022
cur_twist x 3.87211
des_vel 4.12588
vel_error0.247768
cur_twist x 3.87811
des_vel 4.12963
vel_error0.245938
cur_twist x 3.8837
des_vel 4.13338
vel_error0.243789
cur_twist x 3.88959
des_vel 4.13713
vel_error0.243901
cur_twist x 3.89323
des_vel 4.14088
vel_error0.242323
cur_twist x 3.89856
des_vel 4.14463
vel_error0.243285
cur_twist x 3.90135
des_vel 4.14838
vel_error0.244254
cur_twist x 3.90413
des_vel 4.15214
vel_error0.242416
cur_twist x 3.90972
des_vel 4.15588
vel_error0.242857
cur_twist x 3.91302
des_vel 4.15963
vel_error0.244316
cur_twist x 3.91531
des_vel 4.16338
vel_error0.242421
cur_twist x 3.92096
des_vel 4.16713
vel_error0.243326
cur_twist x 3.92381
des_vel 4.17089
vel_error0.246486
cur_twist x 3.9244
des_vel 4.17463
vel_error0.249468
cur_twist x 3.92516
des_vel 4.17838
vel_error0.247195
cur_twist x 3.93119
des_vel 4.18213
vel_error0.250797
cur_twist x 3.93133
des_vel 4.18588
vel_error0.256104
cur_twist x 3.92978
des_vel 4.18963
vel_error0.258914
cur_twist x 3.93072
des_vel 4.19338
vel_error0.261083
cur_twist x 3.9323
des_vel 4.19713
vel_error0.262712
cur_twist x 3.93442
des_vel 4.20088
vel_error0.259179
cur_twist x 3.9417
des_vel 4.20463
vel_error0.258851
cur_twist x 3.94578
des_vel 4.20838
vel_error0.254847
cur_twist x 3.95354
des_vel 4.21213
vel_error0.25705
cur_twist x 3.95508
des_vel 4.21588
vel_error0.258639
cur_twist x 3.95724
des_vel 4.21963
vel_error0.259564
cur_twist x 3.96007
des_vel 4.22338
vel_error0.25349
cur_twist x 3.96989
des_vel 4.22713
vel_error0.253769
cur_twist x 3.97336
des_vel 4.23088
vel_error0.253975
cur_twist x 3.9769
des_vel 4.23463
vel_error0.254218
cur_twist x 3.98041
des_vel 4.23838
vel_error0.25115
cur_twist x 3.98723
des_vel 4.24213
vel_error0.251632
cur_twist x 3.9905
des_vel 4.24588
vel_error0.248733
cur_twist x 3.99715
des_vel 4.24963
vel_error0.249129
cur_twist x 4.0005
des_vel 4.25338
vel_error0.245755
cur_twist x 4.00763
des_vel 4.25713
vel_error0.243487
cur_twist x 4.01364
des_vel 4.26088
vel_error0.240832
cur_twist x 4.02005
des_vel 4.26463
vel_error0.241404
cur_twist x 4.02323
des_vel 4.26838
vel_error0.242143
cur_twist x 4.02624
des_vel 4.27213
vel_error0.242075
cur_twist x 4.03006
des_vel 4.27588
vel_error0.240019
cur_twist x 4.03586
des_vel 4.27963
vel_error0.240971
cur_twist x 4.03866
des_vel 4.28338
vel_error0.241849
cur_twist x 4.04154
des_vel 4.28713
vel_error0.238602
cur_twist x 4.04853
des_vel 4.29088
vel_error0.236368
cur_twist x 4.05451
des_vel 4.29463
vel_error0.234315
cur_twist x 4.06032
des_vel 4.29838
vel_error0.235113
cur_twist x 4.06327
des_vel 4.30213
vel_error0.233931
cur_twist x 4.0682
des_vel 4.30588
vel_error0.235089
cur_twist x 4.07079
des_vel 4.30963
vel_error0.236096
cur_twist x 4.07353
des_vel 4.31338
vel_error0.233631
cur_twist x 4.07975
des_vel 4.31713
vel_error0.229777
cur_twist x 4.08735
des_vel 4.32088
vel_error0.229804
cur_twist x 4.09108
des_vel 4.32463
vel_error0.228211
cur_twist x 4.09642
des_vel 4.32838
vel_error0.228932
cur_twist x 4.09945
des_vel 4.33213
vel_error0.229841
cur_twist x 4.10229
des_vel 4.33588
vel_error0.228109
cur_twist x 4.10777
des_vel 4.33963
vel_error0.226441
cur_twist x 4.11319
des_vel 4.34338
vel_error0.225444
cur_twist x 4.11794
des_vel 4.34713
vel_error0.226176
cur_twist x 4.12096
des_vel 4.35088
vel_error0.224679
cur_twist x 4.1262
des_vel 4.35463
vel_error0.225301
cur_twist x 4.12933
des_vel 4.35838
vel_error0.22451
cur_twist x 4.13387
des_vel 4.36213
vel_error0.225718
cur_twist x 4.13641
des_vel 4.36588
vel_error0.221819
cur_twist x 4.14406
des_vel 4.36963
vel_error0.222976
cur_twist x 4.14665
des_vel 4.37339
vel_error0.224105
cur_twist x 4.14928
des_vel 4.37713
vel_error0.22521
cur_twist x 4.15192
des_vel 4.38088
vel_error0.220927
cur_twist x 4.15996
des_vel 4.38463
vel_error0.221428
cur_twist x 4.16321
des_vel 4.38838
vel_error0.223483
cur_twist x 4.1649
des_vel 4.39213
vel_error0.221683
cur_twist x 4.17045
des_vel 4.39588
vel_error0.222695
cur_twist x 4.17318
des_vel 4.39963
vel_error0.22371
cur_twist x 4.17592
des_vel 4.40338
vel_error0.220172
cur_twist x 4.18321
des_vel 4.40713
vel_error0.221739
cur_twist x 4.18539
des_vel 4.41088
vel_error0.22281
cur_twist x 4.18807
des_vel 4.41463
vel_error0.223616
cur_twist x 4.19101
des_vel 4.41838
vel_error0.219654
cur_twist x 4.19873
des_vel 4.42213
vel_error0.216969
cur_twist x 4.20516
des_vel 4.42588
vel_error0.214987
cur_twist x 4.21089
des_vel 4.42963
vel_error0.216036
cur_twist x 4.2136
des_vel 4.43338
vel_error0.217156
cur_twist x 4.21622
des_vel 4.43713
vel_error0.218018
cur_twist x 4.21912
des_vel 4.44088
vel_error0.218842
cur_twist x 4.22204
des_vel 4.44463
vel_error0.220187
cur_twist x 4.22444
des_vel 4.44838
vel_error0.218362
cur_twist x 4.23002
des_vel 4.45213
vel_error0.219186
cur_twist x 4.23294
des_vel 4.45588
vel_error0.216901
cur_twist x 4.23898
des_vel 4.45963
vel_error0.213153
cur_twist x 4.24648
des_vel 4.46338
vel_error0.205639
cur_twist x 4.25774
des_vel 4.46713
vel_error0.201285
cur_twist x 4.26585
des_vel 4.47088
vel_error0.201087
cur_twist x 4.26979
des_vel 4.47463
vel_error0.199344
cur_twist x 4.27528
des_vel 4.28524
vel_error0
cur_twist x 4.28524
des_vel 4.28899
vel_error-1.8175e-05
cur_twist x 4.28901
des_vel 4.29275
vel_error-0.00522164
cur_twist x 4.29797
des_vel 4.29649
vel_error-0.00748475
cur_twist x 4.30398
des_vel 4.30024
vel_error-0.00742537
cur_twist x 4.30767
des_vel 4.30399
vel_error-0.00756008
cur_twist x 4.31155
des_vel 4.30774
vel_error-0.00744319
cur_twist x 4.31518
des_vel 4.31149
vel_error-0.0024802
cur_twist x 4.31397
des_vel 4.31524
vel_error0.00324173
cur_twist x 4.312
des_vel 4.31899
vel_error0.0107106
cur_twist x 4.30828
des_vel 4.32274
vel_error0.0249173
cur_twist x 4.29782
des_vel 4.32649
vel_error0.0421851
cur_twist x 4.28431
des_vel 4.33024
vel_error0.0529998
cur_twist x 4.27724
des_vel 4.33399
vel_error0.0724249
cur_twist x 4.26157
des_vel 4.33774
vel_error0.0841961
cur_twist x 4.25354
des_vel 4.34149
vel_error0.0960556
cur_twist x 4.24544
des_vel 4.34524
vel_error0.12499
cur_twist x 4.22025
des_vel 4.34899
vel_error0.136554
cur_twist x 4.21244
des_vel 4.35274
vel_error0.155624
cur_twist x 4.19712
des_vel 4.35649
vel_error0.166684
cur_twist x 4.18981
des_vel 4.36024
vel_error0.177485
cur_twist x 4.18276
des_vel 4.36399
vel_error0.186849
cur_twist x 4.17714
des_vel 4.36774
vel_error0.20445
cur_twist x 4.16329
des_vel 4.37149
vel_error0.22038
cur_twist x 4.15111
des_vel 4.37524
vel_error0.231259
cur_twist x 4.14398
des_vel 4.37899
vel_error0.245291
cur_twist x 4.1337
des_vel 4.38274
vel_error0.255398
cur_twist x 4.12734
des_vel 4.38649
vel_error0.269843
cur_twist x 4.11665
des_vel 4.39024
vel_error0.278162
cur_twist x 4.11208
des_vel 4.39399
vel_error0.286057
cur_twist x 4.10794
des_vel 4.39774
vel_error0.301357
cur_twist x 4.09638
des_vel 4.40149
vel_error0.308332
cur_twist x 4.09316
des_vel 4.40524
vel_error0.314577
cur_twist x 4.09066
des_vel 4.40899
vel_error0.321972
cur_twist x 4.08702
des_vel 4.41274
vel_error0.326982
cur_twist x 4.08576
des_vel 4.4165
vel_error0.332426
cur_twist x 4.08407
des_vel 4.42024
vel_error0.337021
cur_twist x 4.08322
des_vel 4.42399
vel_error0.340112
cur_twist x 4.08388
des_vel 4.42774
vel_error0.34407
cur_twist x 4.08367
des_vel 4.43149
vel_error0.347219
cur_twist x 4.08427
des_vel 4.43525
vel_error0.350711
cur_twist x 4.08453
des_vel 4.43899
vel_error0.353566
cur_twist x 4.08543
des_vel 4.44274
vel_error0.357363
cur_twist x 4.08538
des_vel 4.44649
vel_error0.359893
cur_twist x 4.0866
des_vel 4.45024
vel_error0.360737
cur_twist x 4.08951
des_vel 4.45399
vel_error0.362439
cur_twist x 4.09155
des_vel 4.45774
vel_error0.364451
cur_twist x 4.09329
des_vel 4.46149
vel_error0.366789
cur_twist x 4.0947
des_vel 4.46524
vel_error0.366163
cur_twist x 4.09908
des_vel 4.46899
vel_error0.366064
cur_twist x 4.10293
des_vel 4.47275
vel_error0.367452
cur_twist x 4.10529
des_vel 4.47649
vel_error0.370064
cur_twist x 4.10643
des_vel 4.48024
vel_error0.373755
cur_twist x 4.10649
des_vel 4.48399
vel_error0.379337
cur_twist x 4.10466
des_vel 4.48774
vel_error0.382184
cur_twist x 4.10556
des_vel 4.4915
vel_error0.384406
cur_twist x 4.10709
des_vel 4.49524
vel_error0.391654
cur_twist x 4.10359
des_vel 4.499
vel_error0.395435
cur_twist x 4.10356
des_vel 4.50274
vel_error0.398351
cur_twist x 4.10439
des_vel 4.50649
vel_error0.400702
cur_twist x 4.10579
des_vel 4.51024
vel_error0.400477
cur_twist x 4.10976
des_vel 4.51399
vel_error0.401916
cur_twist x 4.11208
des_vel 4.51774
vel_error0.399765
cur_twist x 4.11798
des_vel 4.52149
vel_error0.398077
cur_twist x 4.12341
des_vel 4.52524
vel_error0.400137
cur_twist x 4.1251
des_vel 4.52899
vel_error0.398503
cur_twist x 4.13049
des_vel 4.53274
vel_error0.398901
cur_twist x 4.13384
des_vel 4.53649
vel_error0.399158
cur_twist x 4.13733
des_vel 4.54024
vel_error0.391742
cur_twist x 4.1485
des_vel 4.54399
vel_error0.39178
cur_twist x 4.15221
des_vel 4.54774
vel_error0.391833
cur_twist x 4.15591
des_vel 4.55149
vel_error0.391834
cur_twist x 4.15966
des_vel 4.55524
vel_error0.388289
cur_twist x 4.16695
des_vel 4.55899
vel_error0.389933
cur_twist x 4.16906
des_vel 4.56274
vel_error0.387253
cur_twist x 4.17549
des_vel 4.5665
vel_error0.382167
cur_twist x 4.18433
des_vel 4.57024
vel_error0.381414
cur_twist x 4.18883
des_vel 4.57399
vel_error0.381837
cur_twist x 4.19215
des_vel 4.57774
vel_error0.37886
cur_twist x 4.19888
des_vel 4.5815
vel_error0.376295
cur_twist x 4.2052
des_vel 4.58524
vel_error0.377038
cur_twist x 4.2082
des_vel 4.589
vel_error0.374433
cur_twist x 4.21456
des_vel 4.59274
vel_error0.375069
cur_twist x 4.21767
des_vel 4.59649
vel_error0.375917
cur_twist x 4.22057
des_vel 4.60024
vel_error0.761341
cur_twist x 3.8389
des_vel 4.60399
vel_error0.88719
cur_twist x 3.7168
des_vel 4.60774
vel_error0.932887
cur_twist x 3.67485
des_vel 4.61149
vel_error0.974557
cur_twist x 3.63693
des_vel 4.61524
vel_error1.0585
cur_twist x 3.55674
des_vel 4.61899
vel_error1.09695
cur_twist x 3.52205
des_vel 4.62274
vel_error1.14747
cur_twist x 3.47527
des_vel 4.62649
vel_error1.17642
cur_twist x 3.45007
des_vel 4.63024
vel_error1.18222
cur_twist x 3.44802
des_vel 4.634
vel_error1.17732
cur_twist x 3.45668
des_vel 4.63774
vel_error1.16638
cur_twist x 3.47136
des_vel 4.64149
vel_error1.15258
cur_twist x 3.48892
des_vel 4.64525
vel_error1.08002
cur_twist x 3.56522
des_vel 4.64899
vel_error1.04505
cur_twist x 3.60394
des_vel 4.65274
vel_error1.023
cur_twist x 3.62974
des_vel 4.65649
vel_error0.962026
cur_twist x 3.69447
des_vel 4.66024
vel_error0.934644
cur_twist x 3.7256
des_vel 4.66399
vel_error0.878141
cur_twist x 3.78585
des_vel 4.66775
vel_error0.843617
cur_twist x 3.82413
des_vel 4.67149
vel_error0.800657
cur_twist x 3.87083
des_vel 4.67525
vel_error0.777104
cur_twist x 3.89814
des_vel 4.679
vel_error0.754247
cur_twist x 3.92475
des_vel 4.68274
vel_error0.707383
cur_twist x 3.97536
des_vel 4.68649
vel_error0.663505
cur_twist x 4.02299
des_vel 4.69024
vel_error0.644245
cur_twist x 4.046
des_vel 4.694
vel_error0.604186
cur_twist x 4.08981
des_vel 4.69774
vel_error0.561962
cur_twist x 4.13578
des_vel 4.70149
vel_error0.553642
cur_twist x 4.14785
des_vel 4.70524
vel_error0.522002
cur_twist x 4.18324
des_vel 4.70899
vel_error0.509551
cur_twist x 4.19944
des_vel 4.71274
vel_error0.497851
cur_twist x 4.21489
des_vel 4.71649
vel_error0.467177
cur_twist x 4.24931
des_vel 4.72024
vel_error0.46373
cur_twist x 4.25651
des_vel 4.72399
vel_error0.455028
cur_twist x 4.26896
des_vel 4.72775
vel_error0.434856
cur_twist x 4.29289
des_vel 4.7315
vel_error0.416684
cur_twist x 4.31481
des_vel 4.73524
vel_error0.409059
cur_twist x 4.32619
des_vel 4.73899
vel_error0.393431
cur_twist x 4.34556
des_vel 4.74274
vel_error0.387847
cur_twist x 4.35489
des_vel 4.74649
vel_error0.374118
cur_twist x 4.37237
des_vel 4.75024
vel_error0.369429
cur_twist x 4.38081
des_vel 4.754
vel_error0.352943
cur_twist x 4.40105
des_vel 4.75774
vel_error0.345817
cur_twist x 4.41192
des_vel 4.76149
vel_error0.340126
cur_twist x 4.42137
des_vel 4.76524
vel_error0.320637
cur_twist x 4.4446
des_vel 4.76899
vel_error0.314666
cur_twist x 4.45432
des_vel 4.77274
vel_error0.309795
cur_twist x 4.46295
des_vel 4.77649
vel_error0.305974
cur_twist x 4.47052
des_vel 4.78025
vel_error0.294731
cur_twist x 4.48551
des_vel 4.78399
vel_error0.291663
cur_twist x 4.49233
des_vel 4.78778
vel_error0.279707
cur_twist x 4.50808
des_vel 4.7915
vel_error0.278572
cur_twist x 4.51292
des_vel 4.79524
vel_error0.277824
cur_twist x 4.51742
des_vel 4.79899
vel_error0.277212
cur_twist x 4.52178
des_vel 4.80274
vel_error0.270703
cur_twist x 4.53204
des_vel 4.8065
vel_error0.272162
cur_twist x 4.53433
des_vel 4.81024
vel_error0.273184
cur_twist x 4.53706
des_vel 4.81399
vel_error0.273875
cur_twist x 4.54012
des_vel 4.81775
vel_error0.269831
cur_twist x 4.54791
des_vel 4.82149
vel_error0.272829
cur_twist x 4.54866
des_vel 4.82524
vel_error0.275623
cur_twist x 4.54962
des_vel 4.82899
vel_error0.275328
cur_twist x 4.55366
des_vel 4.83274
vel_error0.277039
cur_twist x 4.5557
des_vel 4.83649
vel_error0.278326
cur_twist x 4.55817
des_vel 4.84024
vel_error0.276643
cur_twist x 4.5636
des_vel 4.84399
vel_error0.274607
cur_twist x 4.56938
des_vel 4.84774
vel_error0.274791
cur_twist x 4.57295
des_vel 4.85149
vel_error0.273052
cur_twist x 4.57844
des_vel 4.85524
vel_error0.273748
cur_twist x 4.58149
des_vel 4.85899
vel_error0.274462
cur_twist x 4.58453
des_vel 4.86274
vel_error0.269042
cur_twist x 4.5937
des_vel 4.86649
vel_error0.26973
cur_twist x 4.59676
des_vel 4.87024
vel_error0.270378
cur_twist x 4.59986
des_vel 4.87399
vel_error0.271021
cur_twist x 4.60297
des_vel 4.87774
vel_error0.261565
cur_twist x 4.61618
des_vel 4.88149
vel_error0.261696
cur_twist x 4.6198
des_vel 4.88524
vel_error0.26196
cur_twist x 4.62328
des_vel 4.889
vel_error0.262344
cur_twist x 4.62665
des_vel 4.89274
vel_error0.259519
cur_twist x 4.63322
des_vel 4.89649
vel_error0.259498
cur_twist x 4.63699
des_vel 4.90024
vel_error0.257644
cur_twist x 4.6426
des_vel 4.90399
vel_error0.25828
cur_twist x 4.64571
des_vel 4.90774
vel_error0.252883
cur_twist x 4.65486
des_vel 4.91149
vel_error0.253298
cur_twist x 4.65819
des_vel 4.91524
vel_error0.254458
cur_twist x 4.66079
des_vel 4.91899
vel_error0.255282
cur_twist x 4.66371
des_vel 4.92274
vel_error0.253281
cur_twist x 4.66946
des_vel 4.92649
vel_error0.254242
cur_twist x 4.67225
des_vel 4.93024
vel_error0.255184
cur_twist x 4.67506
des_vel 4.93399
vel_error0.25038
cur_twist x 4.68361
des_vel 4.93774
vel_error0.249227
cur_twist x 4.68851
des_vel 4.94149
vel_error0.250094
cur_twist x 4.6914
des_vel 4.94524
vel_error0.251037
cur_twist x 4.6942
des_vel 4.94899
vel_error0.248172
cur_twist x 4.70082
des_vel 4.95274
vel_error0.249039
cur_twist x 4.70371
des_vel 4.95649
vel_error0.249942
cur_twist x 4.70655
des_vel 4.96024
vel_error0.247426
cur_twist x 4.71281
des_vel 4.96399
vel_error0.246083
cur_twist x 4.71791
des_vel 4.96774
vel_error0.246989
cur_twist x 4.72076
des_vel 4.97149
vel_error0.247873
cur_twist x 4.72362
des_vel 4.97525
vel_error0.24282
cur_twist x 4.73242
des_vel 4.97899
vel_error0.244055
cur_twist x 4.73494
des_vel 4.98274
vel_error0.242139
cur_twist x 4.7406
des_vel 4.9865
vel_error0.243063
cur_twist x 4.74343
des_vel 4.99024
vel_error0.24403
cur_twist x 4.74621
des_vel 4.99399
vel_error0.242168
cur_twist x 4.75182
des_vel 4.99774
vel_error0.24313
cur_twist x 4.75461
des_vel 5.00149
vel_error0.244611
cur_twist x 4.75688
des_vel 5.00524
vel_error0.245613
cur_twist x 4.75963
des_vel 5.00899
vel_error0.240947
cur_twist x 4.76804
des_vel 5.01274
vel_error0.241941
cur_twist x 4.7708
des_vel 5.01649
vel_error0.242022
cur_twist x 4.77447
des_vel 5.02024
vel_error0.242867
cur_twist x 4.77737
des_vel 5.024
vel_error0.24174
cur_twist x 4.78225
des_vel 5.02774
vel_error0.236735
cur_twist x 4.79101
des_vel 5.03149
vel_error0.237539
cur_twist x 4.79395
des_vel 5.03524
vel_error0.23833
cur_twist x 4.79691
des_vel 5.03899
vel_error0.235723
cur_twist x 4.80327
des_vel 5.04274
vel_error0.235132
cur_twist x 4.80761
des_vel 5.04649
vel_error0.237303
cur_twist x 4.80919
des_vel 5.05024
vel_error0.235418
cur_twist x 4.81482
des_vel 5.05399
vel_error0.236332
cur_twist x 4.81766
des_vel 5.05774
vel_error0.234019
cur_twist x 4.82372
des_vel 5.06149
vel_error0.232698
cur_twist x 4.82879
des_vel 5.06524
vel_error0.233671
cur_twist x 4.83157
des_vel 5.06899
vel_error0.234638
cur_twist x 4.83435
des_vel 5.07274
vel_error0.232385
cur_twist x 4.84036
des_vel 5.0765
vel_error0.23277
cur_twist x 4.84373
des_vel 5.08025
vel_error0.231674
cur_twist x 4.84857
des_vel 5.08399
vel_error0.232684
cur_twist x 4.85131
des_vel 5.08774
vel_error0.22827
cur_twist x 4.85947
des_vel 5.09149
vel_error0.228936
cur_twist x 4.86256
des_vel 5.09524
vel_error0.230404
cur_twist x 4.86484
des_vel 5.09899
vel_error0.228726
cur_twist x 4.87027
des_vel 5.10274
vel_error0.229832
cur_twist x 4.87291
des_vel 5.10649
vel_error0.230951
cur_twist x 4.87554
des_vel 5.11024
vel_error0.227179
cur_twist x 4.88306
des_vel 5.11399
vel_error0.228321
cur_twist x 4.88567
des_vel 5.11774
vel_error0.229361
cur_twist x 4.88838
des_vel 5.12149
vel_error0.225669
cur_twist x 4.89582
des_vel 5.12524
vel_error0.226012
cur_twist x 4.89923
des_vel 5.12899
vel_error0.226541
cur_twist x 4.90245
des_vel 5.13274
vel_error0.227442
cur_twist x 4.9053
des_vel 5.13649
vel_error0.228329
cur_twist x 4.90816
des_vel 5.13649
vel_error0.2227
cur_twist x 4.91379
des_vel 5.13649
vel_error0.217023
cur_twist x 4.91947
des_vel 5.13649
vel_error0.214187
cur_twist x 4.9223

Control Your TurtleBot3!
---------------------------
Moving around:
        w
   a    s    d
        x

w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)

space key, s : force stop

CTRL-C to quit

currently:	linear vel 0.01	 angular vel 0.0 
currently:	linear vel 0.02	 angular vel 0.0 
currently:	linear vel 0.03	 angular vel 0.0 
currently:	linear vel 0.04	 angular vel 0.0 
currently:	linear vel 0.05	 angular vel 0.0 
currently:	linear vel 0.06	 angular vel 0.0 
currently:	linear vel 0.07	 angular vel 0.0 
currently:	linear vel 0.08	 angular vel 0.0 
currently:	linear vel 0.09	 angular vel 0.0 
currently:	linear vel 0.1	 angular vel 0.0 
currently:	linear vel 0.11	 angular vel 0.0 
currently:	linear vel 0.12	 angular vel 0.0 
currently:	linear vel 0.13	 angular vel 0.0 
currently:	linear vel 0.14	 angular vel 0.0 
currently:	linear vel 0.15	 angular vel 0.0 
currently:	linear vel 0.15	 angular vel -0.1 
currently:	linear vel 0.15	 angular vel -0.2 
currently:	linear vel 0.15	 angular vel -0.1 
currently:	linear vel 0.15	 angular vel 0.0 
currently:	linear vel 0.15	 angular vel -0.1 

Control Your TurtleBot3!
---------------------------
Moving around:
        w
   a    s    d
        x

w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)

space key, s : force stop

CTRL-C to quit

currently:	linear vel 0.15	 angular vel -0.2 
currently:	linear vel 0.15	 angular vel -0.1 
currently:	linear vel 0.15	 angular vel 0.0 
currently:	linear vel 0.15	 angular vel 0.1 
currently:	linear vel 0.15	 angular vel 0.0 
des_vel 5.13649
vel_error0.208466
cur_twist x 4.92803
des_vel 5.13649
vel_error0.208466
cur_twist x 4.92803
des_vel 5.13649
vel_error0.203022
cur_twist x 4.93347
des_vel 5.13649
vel_error0.195339
cur_twist x 4.94115
des_vel 5.13649
vel_error0.192924
cur_twist x 4.94357
des_vel 5.13649
vel_error0.190513
cur_twist x 4.94598
des_vel 5.13649
vel_error0.188166
cur_twist x 4.94832
des_vel 5.13649
vel_error0.181984
cur_twist x 4.95451
des_vel 5.13649
vel_error0.180094
cur_twist x 4.9564
des_vel 5.13649
vel_error0.17825
cur_twist x 4.95824
des_vel 5.13649
vel_error0.17825
cur_twist x 4.95824
des_vel 5.13649
vel_error0.17825
cur_twist x 4.95824
des_vel 5.13649
vel_error0.176481
cur_twist x 4.96001
des_vel 5.13649
vel_error0.176481
cur_twist x 4.96001
des_vel 5.13649
vel_error0.174662
cur_twist x 4.96183
des_vel 5.13649
vel_error0.179662
cur_twist x 4.95683
des_vel 5.13649
vel_error0.194674
cur_twist x 4.94182
[ INFO] [1589704895.838572501]: Publishing latched (single publish will take longer, all topics are prepared)
[ INFO] [1589704895.856542784]: starting server
[ INFO] [1589704895.866619587]: rviz version 1.13.7
[ INFO] [1589704895.866645333]: compiled against Qt version 5.9.5
[ INFO] [1589704895.866650544]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1589704895.876532828]: Forcing OpenGl version 0.
[ INFO] [1589704897.378593029]: Stereo is NOT SUPPORTED
[ INFO] [1589704897.378640690]: OpenGl version: 4.6 (GLSL 4.6).
... logging to /home/dabinnkim/.ros/log/37052cda-981a-11ea-a0f7-309c23eb50b3/roslaunch-dabinnkim-MS-7B23-15216.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/home/dabinnkim/unreal_fix/AirSim/ros/src/atypical_ros/launch/airsim_all.launch
started roslaunch server http://dabinnkim-MS-7B23:42587/

SUMMARY
========

PARAMETERS
 * /airsim_car_node/is_vulkan: False
 * /airsim_car_node/object_name: CustomizationChar...
 * /airsim_car_node/update_airsim_control_every_n_sec: 0.001
 * /airsim_car_node/update_lidar_every_n_sec: 0.01
 * /octomap_talker/change_id_frame: /talker/changes
 * /octomap_talker/filter_ground: False
 * /octomap_talker/frame_id: map
 * /octomap_talker/listen_changes: False
 * /octomap_talker/min_change_pub: 0
 * /octomap_talker/occupancy_min_z: 0.2
 * /octomap_talker/pointcloud_min_z: 0.2
 * /octomap_talker/resolution: 0.2
 * /octomap_talker/save_directory: ./
 * /octomap_talker/sensor_model/hit: 0.6
 * /octomap_talker/sensor_model/max_range: 30.0
 * /octomap_talker/topic_changes: /octomap_tracking...
 * /octomap_talker/track_changes: True
 * /pid_node/kd: 0.05
 * /pid_node/ki: 0.08
 * /pid_node/kp: 0.7
 * /pid_node/steer_ratio: 5.0
 * /pid_node/update_period: 7.5
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /
    airsim_car_node (atypical_ros/atypical_airsim_car_node)
    ned_to_enu_pub (tf/static_transform_publisher)
    octomap_talker (octomap_server/octomap_tracking_server_node)
    pid_node (atypical_ros/pid_node)
    rviz (rviz/rviz)
    turtlebot_teleop_keyboard (turtlebot3_teleop/turtlebot3_teleop_key)
    twist2stamp (atypical_ros/twist2stamp)

auto-starting new master
process[master]: started with pid [15226]
ROS_MASTER_URI=http://localhost:11311
]2;/home/dabinnkim/unreal_fix/AirSim/ros/src/atypical_ros/launch/airsim_all.launch http://localhost:11311
setting /run_id to 37052cda-981a-11ea-a0f7-309c23eb50b3
process[rosout-1]: started with pid [15238]
started core service [/rosout]
process[airsim_car_node-2]: started with pid [15245]
process[ned_to_enu_pub-3]: started with pid [15247]
process[twist2stamp-4]: started with pid [15248]
process[rviz-5]: started with pid [15261]
process[turtlebot_teleop_keyboard-6]: started with pid [15269]
process[octomap_talker-7]: started with pid [15270]
process[pid_node-8]: started with pid [15271]
[turtlebot_teleop_keyboard-6] process has finished cleanly
log file: /home/dabinnkim/.ros/log/37052cda-981a-11ea-a0f7-309c23eb50b3/turtlebot_teleop_keyboard-6*.log
[pid_node-8] killing on exit
[octomap_talker-7] killing on exit
[rviz-5] killing on exit
[twist2stamp-4] killing on exit
[ned_to_enu_pub-3] killing on exit
[airsim_car_node-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done