porech / roborock-oucher Goto Github PK
View Code? Open in Web Editor NEWAn utility to make the Roborock / Xiaomi MI Vacuum Cleaner scream "Ouch!" (or everything else) everytime it bumps into something.
License: MIT License
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roborock-oucher's Issues
Robot ouches on start of cleaning
The robot ouches whenever I trigger the start of any cleaning program.
Not working on Roborock S7
The oucher does not seem to work on my robot.
No ouch at all.
NAV_normal.log
NAV_normal_pl9.log
NAV_TRAP_fprintf.log
NAV_TRAP_normal.log
Request: custom notifications
I've an idea to give some sound notifications over roborock. Can you realise that?
For example you can use mqtt to send messages from other devices to roborock to say "Battery is under 50%" or "Clean the container" or other custom messages. Or if it possible to repeat messages from Alexa for example
apt-get: not found
I just installed veletudo to my s5 and this might be obvious, but apt does not seem to exist on the device.
I used dustbuilder with standard settings to compile the firmware.
I only get the "not-found" error when trying to use apt to install packages.
Binary files
Can you provide binary files?
I'm using vacuum_valetudo_re_2008.pkg firmware by zvldz and I don't have aptitude and dpkg too.
[Discussion] What sounds are you guys using?
Since discussions are disabled of this repo, I am raising it as an issue. Sorry @porech if you believe this "issue" is inappropriate. ✌️
Anyway, what sounds are you guys using? Personally I've had amazing experience with Half Life 1 scientists scream sounds. They are very short (up to 1-1.5 seconds) and at 30%-50% of volume sound really great!
[root@rockrobo sounds]# ls -lh
-rw-r--r-- 1 root root 5.3K Sep 22 12:41 scream10.wav
-rw-r--r-- 1 root root 6.8K Sep 22 12:41 scream11.wav
-rw-r--r-- 1 root root 5.6K Sep 22 12:41 scream12.wav
-rw-r--r-- 1 root root 6.1K Sep 22 12:41 scream13.wav
-rw-r--r-- 1 root root 4.7K Sep 22 12:41 scream14.wav
-rw-r--r-- 1 root root 3.0K Sep 22 12:41 scream15.wav
-rw-r--r-- 1 root root 2.3K Sep 22 12:41 scream16.wav
-rw-r--r-- 1 root root 3.7K Sep 22 12:41 scream17.wav
-rw-r--r-- 1 root root 3.0K Sep 22 12:41 scream18.wav
-rw-r--r-- 1 root root 2.4K Sep 22 12:41 scream19.wav
Can't post them here, since they are copyrighted.
S5 Max with Valetudo
Hi,
sorry for opening an Issue just to ask a question.
Is there a way to get it working on the S5 Max with latest Valetudo?
Voice Packs get errors and i cant replace the ogg files because of system read only bug :/
with kind regards
ash: service: not found
Unable to start service on Roborock S5. It seems that the service command doesn't exist on the robots shell. What should I do?
No bumper logs
Hi,
I have a Roborock S5 and can't get the oucher to say anything. After some debugging I have found that I have no logs which contains the bumper-info.
I can find the following logs when the vacuum is running but only the first one contains any data and I can't find any log named "PLAYER_fprintf.log".
Does someone know in which file the Roborock S5 should log the bumper info?
-rw-r--r-- 1 root root 161201 Jan 9 12:38 NAV_TRAP_fprintf.log
-rw-r--r-- 1 root root 0 Jan 9 03:30 NAV_TRAP_normal.log
-rw-r--r-- 1 root root 0 Jan 9 03:30 NAV_normal.log
-rw-r--r-- 1 root root 0 Jan 9 12:37 NAV_normal_pl9.log
Apt-get not found
Hey there,
I got a xiaomi roborock s5 which has the latest firmware.
Apt-get seems to be missing.
I do have wget.
Can you help me to get apt-get installed on the roborock?
I’m not familiar with Linux and can’t seem to find a good solution to install apt-get.
Xiaomi dreame support?
Hi, is it possible to make thiswork on dreame vacuums?
It would be nice if we were able to manually specify the location of the log file in the yml file.
Add license
I can create a pull request to add a license.
My preferred one is MIT as on many golang projects, but if you have other license in mind I can add it instead.
chmod the bin file
i couldn't start the service until i chmodded the file:
chmod 777 /usr/local/bin/oucher
Tested in Roborock S6
Had to download the deb / libs manually and extract them to the rootfs, but besides that, works like a charm :)
Not working on Roborock S6
Hi guys, thank you so much for your great work and this fun project. I recently rooted my Roborock S6 and loaded it with dontacuum.me including Valetudo 2023.03.
I followed the instructions here in the readme, but found that there is no _root.sh file under /mnt/reserve/ on my Roborock S6.
Even after I created it manually and added the lines from the readme, my Roborock does not want to scream ;-)
Is there anything else I could do, or where I could find logs with more information about the problem?
It also looks to me as if the /run/shm/PLAYER_fprintf.log & /run/shm/NAV_TRAP_normal.log log files mentioned in the readme do not exist.
The contents of my /run/shm/ folder are only
[root@rockrobo shm]# ls -l -a
drwxrwxrwt 2 root root 620 Apr 30 09:24 .
drwxrwxrwt 4 root root 200 Jan 3 1970 ..
-rw-r--r-- 1 root root 314160 Apr 30 09:24 APP_PROXY_normal.log
-rw-r--r-- 1 root root 131080 Jan 3 1970 CurrentAccessMap
-rw-r--r-- 1 root root 28215 Apr 30 09:24 EVENTTASK_normal.log
-rw-r--r-- 1 root root 1048576 Jan 3 1970 GridMap
-rw-r--r-- 1 root root 262168 Jan 3 1970 HistoricalAccessMap
-rw-r--r-- 1 root root 71895 Apr 30 09:24 NAV_normal.log
-rw-r--r-- 1 root root 281 Apr 30 09:24 NAV_normal_pl9.log
-rw-r--r-- 1 root root 1104 Jan 3 1970 PersistInfoGroup
-rw-r--r-- 1 root root 247717 Apr 30 09:24 RRLDR_SERVER_normal.log
-rw-r--r-- 1 root root 2367 Apr 30 09:23 RRLDR_binId4.tmp.log
-rw-r--r-- 1 root root 87934 Apr 30 09:23 RRLDR_normal.tmp.log
-rw-r--r-- 1 root root 64 Apr 30 09:23 SLAM_fprintf.tmp.log
-rw-r--r-- 1 root root 995775 Apr 30 09:24 SLAM_normal.log
-rw-r--r-- 1 root root 3312 Jan 3 1970 SharedMapElement
-rw-r--r-- 1 root root 1255968 Apr 30 09:20 SharedMapInfo
-rw-r--r-- 1 root root 156 Jan 3 1970 SharedMultiMapInfo
-rw-r--r-- 1 root root 4096 Jan 3 1970 StateChange
-rw-r--r-- 1 root root 90008 Jan 3 1970 TempObsPointData
-rw-r--r-- 1 root root 11213 Apr 30 09:24 WIFI_MANAGER_normal.log
-rw-r--r-- 1 root root 40720 Apr 30 09:23 blackbox.rr.pkg
-rw-r--r-- 1 root root 4 Jan 3 1970 loader.pid
-rw-r--r-- 1 root root 6 Jan 3 1970 mcu_version
-rw-r--r-- 1 root root 4 Jan 3 1970 rrlogd.pid
-rw-r--r-- 1 root root 193758 Apr 30 09:23 segbase_2363986.ppm.log
-rw-r--r-- 1 root root 14 Jan 3 1970 sn
-rw-r--r-- 1 root root 1 Apr 30 09:23 topHtmp.log
-rw-r--r-- 1 root root 1 Apr 30 09:23 toptmp.log
-rw-r--r-- 1 root root 2 Jan 3 1970 ver
-rw-r--r-- 1 root root 4 Jan 3 1970 watchdoge.pidThe content of the /run/shm/NAV_normal.log file is:
2023/04/30 09:23:02 NAV P533
1099197, 2364005 T578 IPCClient::Main:889 [debug] [PL6] Got message: 0x201120a(Nav_Ignore_Mop_Forbidden_Zone). Size: 0
1099198, 2364006 T578 NavCore::ProcessNavMsg:530 [debug] [PL6] Get ignore mop forbidden zone request
1099199, 2364006 T578 Task::Cancel:80 [debug] [PL6] Start
1099200, 2364006 T578 Task::Cancel:94 [debug] [PL6] End
1099201, 2364037 T578 IPCClient::Main:889 [debug] [PL6] Got message: 0x204005b(Report_LDS_State). Size: 1
1099202, 2364037 T578 LaserControl::OnLaserState:59 [debug] [PL6] Laser state is changed to Off
1099203, 2364518 T652 SegmentMap::RecordSegmentBaseMap:990 [info] [PL6] record seg base map time=2363985 cellNum=1048576 range=(-18,-246)->(166,57)
1099204, 2364597 T652 SegmentMap::RecordSegmentBaseMap:1049 [info] [PL6] RecordSegmentBaseMap End
1099206, 2364597 T652 SegmentMap::ReloadSegment:60 [info] [PL6] ReloadSegment
1099207, 2364600 T652 SegmentMap::ExpandUnreachableBaseMap:326 [info] [PL6] ExpandUnreachableBaseMap (-18,-246) ->(166,57)
1099208, 2364635 T652 SegmentMap::ExpandUnreachableBaseMap:354 [info] [PL6] ExpandUnreachableBaseMap End (-18,-246)->(190,62) (74,-45)
1099209, 2364635 T652 SegmentMap::UpdateSegment:856 [info] [PL6] DoorsSize:0 ClusteredDoorsSize:0
1099210, 2364635 T652 SegmentMap::RecordSegmentBaseMap:990 [info] [PL6] record seg base map time=2363986 cellNum=1048576 range=(-18,-246)->(190,62)
1099211, 2364724 T652 SegmentMap::RecordSegmentBaseMap:1049 [info] [PL6] RecordSegmentBaseMap End
1099212, 2364737 T652 SegmentMap::MergeLastSegmentToBaseMap:793 [info] [PL6] MergeLastSegmentToBaseMap hasUserDefineSegment=1
1099213, 2364747 T652 SegmentMap::UpdateSegment:888 [info] [PL6] UpdateSegment start size=1048576 area=[1024,1024]
1099214, 2364747 T652 SegmentMap::RecordSegmentBaseMap:990 [info] [PL6] record seg base map time=2363987 cellNum=1048576 range=(-512,-512)->(511,511)
1099215, 2366231 T652 SegmentMap::RecordSegmentBaseMap:1049 [info] [PL6] RecordSegmentBaseMap End
1099216, 2366231 T652 SegmentMap::FlipSegmentMapVertical:1922 [debug] [PL6] Flip Start
1099217, 2366233 T652 SegmentMap::FlipSegmentMapVertical:1930 [debug] [PL6] Flip End
1099218, 2367129 T652 SegmentMap::FlipSegmentMapVertical:1922 [debug] [PL6] Flip Start
1099219, 2367141 T652 SegmentMap::FlipSegmentMapVertical:1930 [debug] [PL6] Flip End
1099220, 2367142 T652 SegmentMap::UpdateSegment:927 [info] [PL6] segment_gridmap fail 1
1099221, 2367144 T652 SegmentMap::UpdateSegment:938 [info] [PL6] UpdateSegment end [1024,1024] [-512,-512]
1099222, 2367247 T652 SegmentMap::ExpandUnreachableSegmentMap:562 [info] [PL6] startPoint (74,-45) -1, -1
1099223, 2367247 T652 SegmentMap::ExpandObstacleSegmentMap:572 [info] [PL6] ExpandObstacle Start
1099224, 2367345 T652 SegmentMap::ExpandObstacleSegmentMap:656 [info] [PL6] ExpandObstacle Complete
1099225, 2367345 T652 SegmentMap::ExpandShowSegmentMap:662 [debug] [PL6] ExpandShowSegment Start
1099226, 2367647 T652 SegmentMap::ExpandShowSegmentMap:753 [info] [PL6] expandShowSegmentBFS
1099227, 2367670 T652 SegmentMap::ExpandShowSegmentMap:777 [info] [PL6] startPoint:(74,-45) outsidePoint:(-12,-92) area:(-40,-254)->(198,70)
1099228, 2367670 T652 SegmentMap::ExpandShowSegmentMap:779 [info] [PL6] No Space Point Expanded 1024,1024
1099229, 2367671 T652 SegmentMap::RecordSegmentMap:176 [info] [PL6] RecordSegmentMap Start seg_2363986.ppm range=[309,223][-32,-246,190,62]
1099230, 2367754 T652 SegmentMap::RecordSegmentMap:202 [info] [PL6] RecordSegmentMap End seg_2363986.ppm
1099231, 2367754 T652 SegmentMap::RecordSegmentMap:176 [info] [PL6] RecordSegmentMap Start seg_2363987.ppm range=[309,223][-32,-246,190,62]
1099232, 2367839 T652 SegmentMap::RecordSegmentMap:202 [info] [PL6] RecordSegmentMap End seg_2363987.ppm
1099233, 2367846 T652 SegmentMap::UpdateSegment:964 [info] [PL6] record seg map succ doorNum=0
1099234, 2368079 T652 SharedHistoricalGridMap::UpdateBySegmentMap:169 [info] [PL6] SegId:16, HisReach:5168, CurrUnreach:764, percent:0.147833
1099235, 2368080 T652 SharedHistoricalGridMap::UpdateBySegmentMap:169 [info] [PL6] SegId:17, HisReach:8280, CurrUnreach:1181, percent:0.142633
1099236, 2368080 T652 SharedHistoricalGridMap::UpdateBySegmentMap:169 [info] [PL6] SegId:18, HisReach:3818, CurrUnreach:3818, percent:1.000000
1099237, 2368080 T652 SharedHistoricalGridMap::UpdateBySegmentMap:169 [info] [PL6] SegId:19, HisReach:3932, CurrUnreach:3932, percent:1.000000
1099238, 2368080 T652 SharedHistoricalGridMap::UpdateBySegmentMap:169 [info] [PL6] SegId:20, HisReach:1277, CurrUnreach:1277, percent:1.000000
1099239, 2368080 T652 SharedHistoricalGridMap::UpdateBySegmentMap:169 [info] [PL6] SegId:21, HisReach:563, CurrUnreach:563, percent:1.000000
1099240, 2368084 T652 NavTimeCost::~TimeCost:83 [debug] [PL6] TimeCost#UpdateSegmentMap 2368084
1099241, 2368084 T652 IPCClient::ProcessNavMsg:979 [debug] [PL6] Sending 0x1022103(UPDATE_SEGMENT_MAP_RESULT | Unknown(8451)), echo: 0, message size: 1
1099242, 2368084 T652 IPCClient::ProcessNavMsg:986 [debug] [PL6] Payload: 1,
1099243, 2368085 T652 TaskThread::Main:53 [warn] [PL6] Task[NavCore: Normal] run too long: 4098, St: 2363983, Cur: 2363987
1099244, 2368086 T652 TaskThread::Main:42 [warn] [PL6] Task[NavCore: Normal] delay too long: 4080, St: 2364006, Cur: 2368086
1099245, 2368086 T652 NavCore::UpdateForbiddenZones:1607 [debug] [PL6] Start
1099246, 2368088 T578 IPCClient::Main:889 [debug] [PL6] Got message: 0x201001b(Unknown(27)). Size: 16
1099247, 2368088 T578 NavCore::ProcessNavMsg:384 [debug] [PL6] Get save map request: 2
1099248, 2368088 T578 Task::Cancel:80 [debug] [PL6] Start
1099249, 2368088 T578 Task::Cancel:94 [debug] [PL6] End
1099250, 2368089 T652 ForbiddenZones::SetForbiddenZones:70 [debug] [PL6] commonBlocks=0 mopBlocks=0 walls=3 enableMopForbiddenBlock=0
1099251, 2368089 T652 NavMap::ClearAllForbiddenArea:778 [info] [PL6] Clear all forbidden area points
1099252, 2368094 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -141)->(71, -132)
1099253, 2368094 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-141)->(71,-132)
1099254, 2368095 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099255, 2368095 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-136,ForbiddenArea)
1099256, 2368095 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -142)->(71, -133)
1099257, 2368095 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-142)->(71,-133)
1099258, 2368095 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099259, 2368095 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-137,ForbiddenArea)
1099260, 2368095 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -143)->(71, -134)
1099261, 2368095 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-143)->(71,-134)
1099262, 2368096 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099263, 2368096 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-138,ForbiddenArea)
1099264, 2368096 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -144)->(71, -135)
1099265, 2368096 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-144)->(71,-135)
1099266, 2368096 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099267, 2368096 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-139,ForbiddenArea)
1099268, 2368096 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -145)->(71, -136)
1099269, 2368096 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-145)->(71,-136)
1099270, 2368097 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099271, 2368097 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-140,ForbiddenArea)
1099272, 2368097 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -146)->(71, -137)
1099273, 2368097 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-146)->(71,-137)
1099274, 2368097 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099275, 2368097 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-141,ForbiddenArea)
1099276, 2368097 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -147)->(71, -138)
1099277, 2368097 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-147)->(71,-138)
1099278, 2368098 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099279, 2368098 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-142,ForbiddenArea)
1099280, 2368098 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -153)->(71, -144)
1099281, 2368098 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-153)->(71,-144)
1099282, 2368098 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099283, 2368098 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-148,ForbiddenArea)
1099284, 2368099 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (63, -155)->(72, -146)
1099285, 2368099 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(63,-155)->(72,-146)
1099286, 2368099 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099287, 2368099 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(68,-150,ForbiddenArea)
1099288, 2368099 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -155)->(73, -146)
1099289, 2368099 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-155)->(73,-146)
1099290, 2368099 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099291, 2368100 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-150,ForbiddenArea)
1099292, 2368100 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -154)->(73, -145)
1099293, 2368100 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-154)->(73,-145)
1099294, 2368100 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099295, 2368100 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-149,ForbiddenArea)
1099296, 2368100 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -153)->(73, -144)
1099297, 2368100 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-153)->(73,-144)
1099298, 2368101 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099299, 2368101 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-148,ForbiddenArea)
1099300, 2368101 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -151)->(73, -142)
1099301, 2368101 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-151)->(73,-142)
1099302, 2368101 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099303, 2368101 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-146,ForbiddenArea)
1099304, 2368101 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -150)->(73, -141)
1099305, 2368101 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-150)->(73,-141)
1099306, 2368102 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099307, 2368102 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-145,ForbiddenArea)
1099308, 2368102 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -149)->(73, -140)
1099309, 2368102 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-149)->(73,-140)
1099310, 2368102 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099311, 2368102 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-144,ForbiddenArea)
1099312, 2368102 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -148)->(73, -139)
1099313, 2368102 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-148)->(73,-139)
1099314, 2368103 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099315, 2368103 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-143,ForbiddenArea)
1099316, 2368103 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -147)->(73, -138)
1099317, 2368103 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-147)->(73,-138)
1099318, 2368103 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099319, 2368103 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-142,ForbiddenArea)
1099320, 2368103 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -146)->(73, -137)
1099321, 2368103 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-146)->(73,-137)
1099322, 2368104 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099323, 2368104 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-141,ForbiddenArea)
1099324, 2368104 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -145)->(73, -136)
1099325, 2368104 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-145)->(73,-136)
1099326, 2368104 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099327, 2368104 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-140,ForbiddenArea)
1099328, 2368104 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -144)->(73, -135)
1099329, 2368104 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-144)->(73,-135)
1099330, 2368105 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099331, 2368105 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-139,ForbiddenArea)
1099332, 2368105 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -143)->(73, -134)
1099333, 2368105 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-143)->(73,-134)
1099334, 2368105 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099335, 2368105 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-138,ForbiddenArea)
1099336, 2368105 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -142)->(73, -133)
1099337, 2368105 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-142)->(73,-133)
1099338, 2368106 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099339, 2368106 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-137,ForbiddenArea)
1099340, 2368106 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -141)->(73, -132)
1099341, 2368106 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-141)->(73,-132)
1099342, 2368106 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099343, 2368106 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-136,ForbiddenArea)
1099344, 2368106 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (63, -140)->(72, -131)
1099345, 2368106 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(63,-140)->(72,-131)
1099346, 2368107 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099347, 2368107 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(68,-135,ForbiddenArea)
1099348, 2368107 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -140)->(71, -131)
1099349, 2368107 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-140)->(71,-131)
1099350, 2368107 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099351, 2368107 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-135,ForbiddenArea)
1099352, 2368107 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -147)->(115, -138)
1099353, 2368107 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-147)->(115,-138)
1099354, 2368108 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099355, 2368108 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-142,ForbiddenArea)
1099356, 2368108 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -150)->(115, -141)
1099357, 2368108 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-150)->(115,-141)
1099358, 2368108 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099359, 2368108 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-145,ForbiddenArea)
1099360, 2368108 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -151)->(115, -142)
1099361, 2368108 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-151)->(115,-142)
1099362, 2368109 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099363, 2368109 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-146,ForbiddenArea)
1099364, 2368109 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -152)->(115, -143)
1099365, 2368109 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-152)->(115,-143)
1099366, 2368109 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099367, 2368109 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-147,ForbiddenArea)
1099368, 2368109 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -153)->(115, -144)
1099369, 2368109 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-153)->(115,-144)
1099370, 2368110 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099371, 2368110 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-148,ForbiddenArea)
1099372, 2368110 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -154)->(115, -145)
1099373, 2368110 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-154)->(115,-145)
1099374, 2368110 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099375, 2368110 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-149,ForbiddenArea)
1099376, 2368110 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -155)->(115, -146)
1099377, 2368110 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-155)->(115,-146)
1099378, 2368111 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099379, 2368111 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-150,ForbiddenArea)
1099380, 2368111 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (107, -155)->(116, -146)
1099381, 2368111 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(107,-155)->(116,-146)
1099382, 2368112 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099383, 2368112 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(112,-150,ForbiddenArea)
1099384, 2368112 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -155)->(117, -146)
1099385, 2368112 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-155)->(117,-146)
1099386, 2368112 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099387, 2368112 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-150,ForbiddenArea)
1099388, 2368112 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -154)->(117, -145)
1099389, 2368112 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-154)->(117,-145)
1099390, 2368113 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099391, 2368113 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-149,ForbiddenArea)
1099392, 2368113 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -153)->(117, -144)
1099393, 2368113 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-153)->(117,-144)
1099394, 2368113 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099395, 2368113 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-148,ForbiddenArea)
1099396, 2368113 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -152)->(117, -143)
1099397, 2368113 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-152)->(117,-143)
1099398, 2368114 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099399, 2368114 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-147,ForbiddenArea)
1099400, 2368114 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -151)->(117, -142)
1099401, 2368114 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-151)->(117,-142)
1099402, 2368114 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099403, 2368114 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-146,ForbiddenArea)
1099404, 2368114 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -147)->(117, -138)
1099405, 2368114 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-147)->(117,-138)
1099406, 2368115 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099407, 2368115 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-142,ForbiddenArea)
1099408, 2368115 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -146)->(117, -137)
1099409, 2368115 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-146)->(117,-137)
1099410, 2368115 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099411, 2368115 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-141,ForbiddenArea)
1099412, 2368115 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -145)->(117, -136)
1099413, 2368115 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-145)->(117,-136)
1099414, 2368116 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099415, 2368116 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-140,ForbiddenArea)
1099416, 2368116 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -144)->(117, -135)
1099417, 2368116 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-144)->(117,-135)
1099418, 2368116 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099419, 2368116 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-139,ForbiddenArea)
1099420, 2368116 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -143)->(117, -134)
1099421, 2368116 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-143)->(117,-134)
1099422, 2368116 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099423, 2368116 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-138,ForbiddenArea)
1099424, 2368117 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (107, -143)->(116, -134)
1099425, 2368117 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(107,-143)->(116,-134)
1099426, 2368117 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099427, 2368117 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(112,-138,ForbiddenArea)
1099428, 2368117 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (74, -186)->(83, -177)
1099429, 2368117 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(74,-186)->(83,-177)
1099430, 2368117 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099431, 2368118 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(79,-181,ForbiddenArea)
1099432, 2368118 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (77, -186)->(86, -177)
1099433, 2368118 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(77,-186)->(86,-177)
1099434, 2368118 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099435, 2368118 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(82,-181,ForbiddenArea)
1099436, 2368118 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (78, -186)->(87, -177)
1099437, 2368118 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(78,-186)->(87,-177)
1099438, 2368118 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099439, 2368119 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(83,-181,ForbiddenArea)
1099440, 2368119 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (79, -186)->(88, -177)
1099441, 2368119 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(79,-186)->(88,-177)
1099442, 2368119 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099443, 2368119 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(84,-181,ForbiddenArea)
1099444, 2368119 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (85, -185)->(94, -176)
1099445, 2368119 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(85,-185)->(94,-176)
1099446, 2368119 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099447, 2368120 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(90,-180,ForbiddenArea)
1099448, 2368120 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (85, -184)->(94, -175)
1099449, 2368120 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(85,-184)->(94,-175)
1099450, 2368120 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099451, 2368120 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(90,-179,ForbiddenArea)
1099452, 2368120 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (84, -184)->(93, -175)
1099453, 2368120 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(84,-184)->(93,-175)
1099454, 2368121 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099455, 2368121 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(89,-179,ForbiddenArea)
1099456, 2368121 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (82, -184)->(91, -175)
1099457, 2368121 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(82,-184)->(91,-175)
1099458, 2368121 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099459, 2368121 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(87,-179,ForbiddenArea)
1099460, 2368121 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (80, -184)->(89, -175)
1099461, 2368121 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(80,-184)->(89,-175)
1099462, 2368122 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099463, 2368122 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(85,-179,ForbiddenArea)
1099464, 2368122 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (79, -184)->(88, -175)
1099465, 2368122 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(79,-184)->(88,-175)
1099466, 2368122 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099467, 2368122 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(84,-179,ForbiddenArea)
1099468, 2368122 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (78, -184)->(87, -175)
1099469, 2368122 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(78,-184)->(87,-175)
1099470, 2368123 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099471, 2368123 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(83,-179,ForbiddenArea)
1099472, 2368123 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (77, -184)->(86, -175)
1099473, 2368123 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(77,-184)->(86,-175)
1099474, 2368123 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099475, 2368123 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(82,-179,ForbiddenArea)
1099476, 2368123 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (76, -184)->(85, -175)
1099477, 2368123 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(76,-184)->(85,-175)
1099478, 2368124 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099479, 2368124 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(81,-179,ForbiddenArea)
1099480, 2368124 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (75, -184)->(84, -175)
1099481, 2368124 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(75,-184)->(84,-175)
1099482, 2368124 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099483, 2368124 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(80,-179,ForbiddenArea)
1099484, 2368124 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (76, -186)->(85, -177)
1099485, 2368124 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(76,-186)->(85,-177)
1099486, 2368125 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099487, 2368125 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(81,-181,ForbiddenArea)
1099488, 2368125 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (85, -186)->(94, -177)
1099489, 2368125 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(85,-186)->(94,-177)
1099490, 2368125 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099491, 2368125 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(90,-181,ForbiddenArea)
1099492, 2368126 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -154)->(71, -145)
1099493, 2368126 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-154)->(71,-145)
1099494, 2368126 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099495, 2368126 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-149,ForbiddenArea)
1099496, 2368126 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (71, -184)->(80, -175)
1099497, 2368126 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(71,-184)->(80,-175)
1099498, 2368127 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099499, 2368127 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(76,-179,ForbiddenArea)
1099500, 2368127 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (81, -184)->(90, -175)
1099501, 2368127 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(81,-184)->(90,-175)
1099502, 2368127 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099503, 2368127 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(86,-179,ForbiddenArea)
1099504, 2368127 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (73, -186)->(82, -177)
1099505, 2368127 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(73,-186)->(82,-177)
1099506, 2368128 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099507, 2368128 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(78,-181,ForbiddenArea)
1099508, 2368128 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -155)->(71, -146)
1099509, 2368128 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-155)->(71,-146)
1099510, 2368128 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099511, 2368128 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-150,ForbiddenArea)
1099512, 2368129 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -151)->(71, -142)
1099513, 2368129 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-151)->(71,-142)
1099514, 2368129 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099515, 2368129 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-146,ForbiddenArea)
1099516, 2368129 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -143)->(115, -134)
1099517, 2368129 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-143)->(115,-134)
1099518, 2368130 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099519, 2368130 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-138,ForbiddenArea)
1099520, 2368130 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -149)->(71, -140)
1099521, 2368130 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-149)->(71,-140)
1099522, 2368131 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099523, 2368131 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-144,ForbiddenArea)
1099524, 2368131 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (73, -184)->(82, -175)
1099525, 2368131 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(73,-184)->(82,-175)
1099526, 2368131 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099527, 2368132 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(78,-179,ForbiddenArea)
1099528, 2368132 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -148)->(115, -139)
1099529, 2368132 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-148)->(115,-139)
1099530, 2368132 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099531, 2368132 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-143,ForbiddenArea)
1099532, 2368132 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -149)->(117, -140)
1099533, 2368132 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-149)->(117,-140)
1099534, 2368132 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099535, 2368133 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-144,ForbiddenArea)
1099536, 2368133 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (74, -184)->(83, -175)
1099537, 2368133 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(74,-184)->(83,-175)
1099538, 2368133 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099539, 2368133 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(79,-179,ForbiddenArea)
1099540, 2368133 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (80, -186)->(89, -177)
1099541, 2368133 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(80,-186)->(89,-177)
1099542, 2368134 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099543, 2368134 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(85,-181,ForbiddenArea)
1099544, 2368134 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -146)->(115, -137)
1099545, 2368134 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-146)->(115,-137)
1099546, 2368134 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099547, 2368134 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-141,ForbiddenArea)
1099548, 2368134 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -152)->(73, -143)
1099549, 2368134 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-152)->(73,-143)
1099550, 2368135 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099551, 2368135 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-147,ForbiddenArea)
1099552, 2368135 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -148)->(117, -139)
1099553, 2368135 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-148)->(117,-139)
1099554, 2368135 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099555, 2368135 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-143,ForbiddenArea)
1099556, 2368135 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (71, -186)->(80, -177)
1099557, 2368135 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(71,-186)->(80,-177)
1099558, 2368136 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099559, 2368136 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(76,-181,ForbiddenArea)
1099560, 2368136 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -149)->(115, -140)
1099561, 2368136 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-149)->(115,-140)
1099562, 2368136 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099563, 2368136 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-144,ForbiddenArea)
1099564, 2368136 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -144)->(115, -135)
1099565, 2368136 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-144)->(115,-135)
1099566, 2368137 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099567, 2368137 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-139,ForbiddenArea)
1099568, 2368137 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (108, -150)->(117, -141)
1099569, 2368137 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(108,-150)->(117,-141)
1099570, 2368137 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099571, 2368137 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(113,-145,ForbiddenArea)
1099572, 2368137 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (72, -184)->(81, -175)
1099573, 2368137 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(72,-184)->(81,-175)
1099574, 2368138 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099575, 2368138 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(77,-179,ForbiddenArea)
1099576, 2368138 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (106, -145)->(115, -136)
1099577, 2368138 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(106,-145)->(115,-136)
1099578, 2368138 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099579, 2368138 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(111,-140,ForbiddenArea)
1099580, 2368138 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (84, -186)->(93, -177)
1099581, 2368139 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(84,-186)->(93,-177)
1099582, 2368139 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099583, 2368139 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(89,-181,ForbiddenArea)
1099584, 2368139 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (81, -186)->(90, -177)
1099585, 2368139 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(81,-186)->(90,-177)
1099586, 2368139 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099587, 2368140 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(86,-181,ForbiddenArea)
1099588, 2368140 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (83, -186)->(92, -177)
1099589, 2368140 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(83,-186)->(92,-177)
1099590, 2368141 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099591, 2368141 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(88,-181,ForbiddenArea)
1099592, 2368141 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (72, -186)->(81, -177)
1099593, 2368141 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(72,-186)->(81,-177)
1099594, 2368141 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099595, 2368141 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(77,-181,ForbiddenArea)
1099596, 2368141 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -150)->(71, -141)
1099597, 2368141 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-150)->(71,-141)
1099598, 2368142 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099599, 2368142 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-145,ForbiddenArea)
1099600, 2368142 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (71, -185)->(80, -176)
1099601, 2368142 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(71,-185)->(80,-176)
1099602, 2368142 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099603, 2368143 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(76,-180,ForbiddenArea)
1099604, 2368143 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (64, -140)->(73, -131)
1099605, 2368143 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(64,-140)->(73,-131)
1099606, 2368143 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099607, 2368143 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(69,-135,ForbiddenArea)
1099608, 2368143 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (82, -186)->(91, -177)
1099609, 2368143 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(82,-186)->(91,-177)
1099610, 2368144 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099611, 2368144 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(87,-181,ForbiddenArea)
1099612, 2368144 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -148)->(71, -139)
1099613, 2368144 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-148)->(71,-139)
1099614, 2368144 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099615, 2368144 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-143,ForbiddenArea)
1099616, 2368144 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (83, -184)->(92, -175)
1099617, 2368144 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(83,-184)->(92,-175)
1099618, 2368145 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099619, 2368145 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(88,-179,ForbiddenArea)
1099620, 2368145 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (75, -186)->(84, -177)
1099621, 2368145 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(75,-186)->(84,-177)
1099622, 2368145 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099623, 2368145 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(80,-181,ForbiddenArea)
1099624, 2368145 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -152)->(71, -143)
1099625, 2368145 T652 BubbledMap::Bubble:154 [debug] [PL6] Start: Bubble range:(62,-152)->(71,-143)
1099626, 2368146 T652 BubbledMap::Bubble:157 [debug] [PL6] BubbledMap::Bubble End
1099627, 2368146 T652 NavMap::ClearTempObstacle:152 [debug] [PL6] Will remove Point(67,-147,ForbiddenArea)
1099628, 2368150 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (93, -43)->(111, -19)
1099629, 2368152 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (35, -127)->(63, -110)
1099630, 2368152 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (119, 32)->(155, 44)
1099631, 2368152 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-20, -121)->(15, -102)
1099632, 2368152 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (51, -56)->(88, -5)
1099633, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (125, -141)->(142, -121)
1099634, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (66, -186)->(94, -170)
1099635, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (68, 28)->(88, 40)
1099636, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (125, -98)->(166, -74)
1099637, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (110, -99)->(125, -84)
1099638, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (5, -177)->(75, -129)
1099639, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (5, -22)->(47, 20)
1099640, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (6, -107)->(23, -93)
1099641, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (15, -103)->(67, -83)
1099642, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (32, -55)->(56, -42)
1099643, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-22, -181)->(13, -118)
1099644, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (72, -121)->(81, -112)
1099645, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (151, -78)->(160, -67)
1099646, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (114, -172)->(123, -163)
1099647, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (36, -86)->(48, -74)
1099648, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (141, -148)->(155, -137)
1099649, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (42, -180)->(52, -171)
1099650, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (43, -5)->(81, 32)
1099651, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (147, -13)->(156, -4)
1099652, 2368153 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (52, -111)->(98, -50)
1099653, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (103, -110)->(114, -81)
1099654, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (105, -71)->(116, -37)
1099655, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (12, -131)->(39, -109)
1099656, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-13, -92)->(7, -30)
1099657, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (105, -126)->(114, -112)
1099658, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (112, -74)->(159, -49)
1099659, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (103, -165)->(122, -132)
1099660, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (83, -116)->(94, -105)
1099661, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (15, -58)->(24, -47)
1099662, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (105, -86)->(119, -74)
1099663, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (142, 4)->(166, 32)
1099664, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (57, -161)->(80, -116)
1099665, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (15, -78)->(24, -68)
1099666, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-13, -33)->(4, 20)
1099667, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (33, -75)->(56, -63)
1099668, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-3, -101)->(9, -88)
1099669, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (128, -172)->(146, -161)
1099670, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (81, -10)->(133, 53)
1099671, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (84, -181)->(114, -156)
1099672, 2368154 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (17, -114)->(28, -104)
1099673, 2368155 T652 NavMap::UpdateForbiddenZonesToTempObj:202 [info] [PL6] Set forbidden area rect (76,-181)->(90,-179)
1099674, 2368156 T652 NavMap::UpdateForbiddenZonesToTempObj:202 [info] [PL6] Set forbidden area rect (111,-150)->(113,-138)
1099675, 2368156 T652 NavMap::UpdateForbiddenZonesToTempObj:202 [info] [PL6] Set forbidden area rect (67,-150)->(69,-135)
1099676, 2368156 T652 DStarMap::UpdateLocalMap:337 [debug] [PL6] Start : Update DStarMap
1099677, 2368157 T652 DStarMap::UpdateLocalMap:342 [debug] [PL6] Completely Update branch
1099678, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (88, -48)->(116, -14)
1099679, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (30, -132)->(68, -105)
1099680, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (114, 27)->(160, 49)
1099681, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (-25, -126)->(20, -97)
1099682, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (46, -61)->(93, 0)
1099683, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (120, -146)->(147, -116)
1099684, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (63, 23)->(93, 45)
1099685, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (120, -103)->(171, -69)
1099686, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (105, -104)->(130, -79)
1099687, 2368157 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (0, -27)->(52, 25)
1099688, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (1, -112)->(28, -88)
1099689, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (10, -108)->(72, -78)
1099690, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (27, -60)->(61, -37)
1099691, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (-27, -186)->(18, -113)
1099692, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (67, -126)->(86, -107)
1099693, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (146, -83)->(165, -62)
1099694, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (109, -177)->(128, -158)
1099695, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (31, -91)->(53, -69)
1099696, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (136, -153)->(160, -132)
1099697, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (37, -185)->(57, -166)
1099698, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (38, -10)->(86, 37)
1099699, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (142, -18)->(161, 1)
1099700, 2368158 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (47, -116)->(103, -45)
1099701, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (98, -115)->(119, -76)
1099702, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (100, -76)->(121, -32)
1099703, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (7, -136)->(44, -104)
1099704, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (-18, -97)->(12, -25)
1099705, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (100, -131)->(119, -107)
1099706, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (107, -79)->(164, -44)
1099707, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (78, -121)->(99, -100)
1099708, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (10, -63)->(29, -42)
1099709, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (100, -91)->(124, -69)
1099710, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (137, -1)->(171, 37)
1099711, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (52, -166)->(85, -111)
1099712, 2368159 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (10, -83)->(29, -63)
1099713, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (-18, -38)->(9, 25)
1099714, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (28, -80)->(61, -58)
1099715, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (-8, -106)->(14, -83)
1099716, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (123, -177)->(151, -156)
1099717, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (76, -15)->(138, 58)
1099718, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (79, -186)->(119, -151)
1099719, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (12, -119)->(33, -99)
1099720, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (61, -191)->(99, -165)
1099721, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (98, -170)->(127, -127)
1099722, 2368160 T652 DStarMap::UpdateLocalMap:395 [debug] [PL6] Copy from NavMap, range is (0, -182)->(80, -124)
1099723, 2368163 T652 DStarMap::UpdateLocalMap:415 [info] [PL6] Changed tempobs points size is 2346
1099724, 2368166 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (93, -43)->(111, -19)
1099725, 2368167 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (81, -10)->(133, 18)
1099726, 2368167 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-12, -92)->(7, -30)
1099727, 2368167 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (128, -172)->(146, -161)
1099728, 2368167 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (83, -116)->(96, -95)
1099729, 2368167 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (104, -155)->(117, -132)
1099730, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (36, -86)->(48, -74)
1099731, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (103, -110)->(116, -74)
1099732, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (51, -54)->(88, -5)
1099733, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (12, -131)->(63, -109)
1099734, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (66, -186)->(92, -170)
1099735, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (6, -107)->(15, -97)
1099736, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (83, 12)->(132, 38)
1099737, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (142, 5)->(166, 22)
1099738, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (141, -148)->(155, -137)
1099739, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (85, -88)->(96, -59)
1099740, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (145, 19)->(158, 32)
1099741, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (68, 19)->(82, 40)
1099742, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (109, 32)->(155, 44)
1099743, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (15, -78)->(24, -68)
1099744, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (84, -181)->(113, -155)
1099745, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (86, 35)->(128, 53)
1099746, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (11, -3)->(55, 23)
1099747, 2368168 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (32, -55)->(56, -42)
1099748, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-22, -181)->(76, -122)
1099749, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-13, -32)->(4, 20)
1099750, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (121, -74)->(159, -51)
1099751, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (133, -141)->(142, -130)
1099752, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (15, -58)->(24, -47)
1099753, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (110, -99)->(125, -75)
1099754, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (5, -22)->(43, 4)
1099755, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (33, -75)->(56, -63)
1099756, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (59, 8)->(71, 27)
1099757, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (112, -61)->(125, -49)
1099758, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (105, -71)->(116, -37)
1099759, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (72, -82)->(83, -69)
1099760, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (69, -5)->(81, 20)
1099761, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (125, -132)->(138, -121)
1099762, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-1, -101)->(9, -90)
1099763, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (74, -67)->(87, -50)
1099764, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (116, -69)->(125, -60)
1099765, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (147, -13)->(156, -4)
1099766, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (125, -95)->(142, -83)
1099767, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (52, -85)->(67, -71)
1099768, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (6, -105)->(98, -81)
1099769, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (-20, -121)->(15, -102)
1099770, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (105, -126)->(114, -112)
1099771, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (62, -3)->(71, 6)
1099772, 2368169 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (139, -98)->(166, -67)
1099773, 2368170 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (1, -128)->(13, -118)
1099774, 2368170 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (70, -129)->(81, -112)
1099775, 2368170 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (52, 17)->(61, 26)
1099776, 2368170 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (114, -172)->(123, -163)
1099777, 2368170 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (17, -114)->(28, -104)
1099778, 2368170 T652 navutils::GetChangedRectsFromChangedPoints:990 [debug] [PL6] Changed rect: (112, -157)->(121, -147)
1099779, 2368578 T652 DStarMap::UpdateLocalMap:484 [debug] [PL6] Completely Update: Could use main map
1099780, 2368581 T652 DStarMap::UpdateLocalMap:652 [debug] [PL6] End : Update DStarMap
1099781, 2368581 T652 MapManager::UpdateForbiddenZones:648 [debug] [PL6] Finished update DStarMap
1099782, 2368582 T652 ForbiddenZonesBumper::SetForbiddenZones:233 [debug] [PL6] SetForbiddenZones 3
1099783, 2368582 T652 ForbiddenZonesBumper::SetForbiddenZones:244 [debug] [PL6] Forbidden zone:3800, -9050 -> 4500, -8950
1099784, 2368582 T652 ForbiddenZonesBumper::SetForbiddenZones:244 [debug] [PL6] Forbidden zone:5550, -7500 -> 5650, -6900
1099785, 2368582 T652 ForbiddenZonesBumper::SetForbiddenZones:244 [debug] [PL6] Forbidden zone:3350, -7500 -> 3450, -6750
1099786, 2368582 T652 TaskThread::Main:53 [warn] [PL6] Task[NavCore: Normal] run too long: 496, St: 2364006, Cur: 2368086
1099787, 2368582 T652 TaskThread::Main:42 [warn] [PL6] Task[NavCore: Normal] delay too long: 494, St: 2368088, Cur: 2368582
1099788, 2368582 T652 NavCore::SaveSLAMMap:1538 [debug] [PL6] Save map: 2
1099789, 2368582 T652 GMapping::RequestSLAMSaveMap:516 [debug] [PL6] Start : RequestSLAMSaveMap: 2
1099790, 2368582 T652 GMapping::NotifySLAMCommand:118 [debug] [PL6] Sending SLAM_COMMAND_SAVEMAP with timeout 10000
1099791, 2368582 T652 IPCClient::ProcessNavMsg:979 [debug] [PL6] Sending 0x90202c0(SLAM_COMMAND_SAVEMAP | Unknown(704)), echo: 1, message size: 4
1099792, 2368582 T652 IPCClient::ProcessNavMsg:986 [debug] [PL6] Payload: 2, 0, 0, 0,
1099793, 2368582 T652 IPCClient::SendNavPacketEx:939 [debug] [PL6] Sending with timeout: 3000
1099794, 2368584 T18759 IPCClient::Callback:913 [debug] [PL6] Callback: Timeout: 0
1099795, 2368585 T652 IPCClient::SendNavPacketEx:953 [debug] [PL6] Result: ret: 76, IsTimeout: 0, IsCancelled: 0
1099796, 2368591 T578 IPCClient::Main:889 [debug] [PL6] Got message: 0x20902bd(Unknown(701)). Size: 4
1099797, 2368591 T578 GlobalMovingRelocation::operator():118 [debug] [PL6] Received slam status is (4)
1099798, 2368591 T578 GMapping::operator():99 [debug] [PL6] Received response!
1099799, 2368591 T578 GMapping::operator():163 [debug] [PL6] Received slam status is (4)
1099800, 2368591 T578 NavCore::ProcessNavMsg:324 [debug] [PL6] Received ipc_slam_status: 4
1099801, 2368592 T652 GMapping::NotifySLAMCommand:151 [debug] [PL6] Rsp: SUCCEED
1099802, 2368592 T652 SLAMRelocationCfgManager::PersistSLAMMap:146 [debug] [PL6] Result: SUCCEED
1099804, 2368594 T652 NavMap::StoreTempObsToSharedMemory:977 [info] [PL6] Start
1099805, 2368699 T652 MotionMonitor::Stop:58 [debug] [PL6] Stop
1099806, 2368699 T652 RobotDevice::Unsubscribe:165 [debug] [PL6] start type: Drop
1099807, 2368699 T652 RobotDevice::Unsubscribe:722 [debug] [PL6] Type: Drop, Index: 1
1099808, 2368699 T652 RobotDevice::Unsubscribe:170 [debug] [PL6] end type: Drop
1099809, 2368699 T652 RobotDevice::Unsubscribe:165 [debug] [PL6] start type: Gyro
1099810, 2368699 T652 RobotDevice::Unsubscribe:722 [debug] [PL6] Type: Gyro, Index: 0
1099811, 2368700 T652 RobotDevice::Unsubscribe:170 [debug] [PL6] end type: Gyro
1099812, 2368700 T652 SLAMRelocationCfgManager::SetMoveStatus:203 [info] [PL6] Set Map2 isMoved:0
1099813, 2368712 T652 ConfigHandler::Flush:94 [debug] [PL6] Updated configuration successfully written to: /mnt/data/rockrobo/slam_info.cfg.cache.
1099814, 2368713 T652 ConfigHandler::Flush:104 [debug] [PL6] File /mnt/data/rockrobo/slam_info.cfg.cache successfully renamed to /mnt/data/rockrobo/slam_info.cfg
1099815, 2368713 T652 MotionMonitor::Start:30 [debug] [PL6] Start
1099816, 2368713 T652 RobotDevice::Subscribe:123 [debug] [PL6] Start subscribe type: Drop
1099817, 2368713 T652 RobotDevice::Suscribe:703 [debug] [PL6] Type: Drop, Index: 1
1099818, 2368713 T652 RobotDevice::Subscribe:131 [debug] [PL6] End subscribe type: Drop
1099819, 2368713 T652 RobotDevice::Subscribe:136 [debug] [PL6] start callback: Drop
1099820, 2368713 T652 RobotDevice::Subscribe:138 [debug] [PL6] end callback: Drop
1099821, 2368713 T652 RobotDevice::Subscribe:123 [debug] [PL6] Start subscribe type: Gyro
1099822, 2368713 T652 RobotDevice::Suscribe:703 [debug] [PL6] Type: Gyro, Index: 0
1099823, 2368713 T652 RobotDevice::Subscribe:131 [debug] [PL6] End subscribe type: Gyro
1099824, 2368713 T652 RobotDevice::Subscribe:136 [debug] [PL6] start callback: Gyro
1099825, 2368713 T652 RobotDevice::Subscribe:138 [debug] [PL6] end callback: Gyro
1099826, 2368714 T652 IPCClient::ProcessNavMsg:979 [debug] [PL6] Sending 0x1022105(NAV_SAVE_MAP_RESULT_RC | Unknown(8453)), echo: 0, message size: 16
1099827, 2368714 T652 IPCClient::ProcessNavMsg:986 [debug] [PL6] Payload: bb, e2, ea, 4, 0, 0, 0, 0, 2, 0, 0, 0, 1, 0, 0, 0,
1099828, 2368714 T652 TaskThread::Main:53 [warn] [PL6] Task[NavCore: Normal] run too long: 132, St: 2368088, Cur: 2368582
1099829, 2368716 T578 IPCClient::Main:889 [debug] [PL6] Got message: 0x201001b(Unknown(27)). Size: 16
1099830, 2368716 T578 NavCore::ProcessNavMsg:384 [debug] [PL6] Get save map request: 1
1099831, 2368716 T578 Task::Cancel:80 [debug] [PL6] Start
1099832, 2368716 T578 Task::Cancel:94 [debug] [PL6] End
1099833, 2368717 T652 NavCore::SaveSLAMMap:1538 [debug] [PL6] Save map: 1
1099834, 2368717 T652 GMapping::RequestSLAMSaveMap:516 [debug] [PL6] Start : RequestSLAMSaveMap: 1
1099835, 2368717 T652 GMapping::NotifySLAMCommand:118 [debug] [PL6] Sending SLAM_COMMAND_SAVEMAP with timeout 10000
1099836, 2368717 T652 IPCClient::ProcessNavMsg:979 [debug] [PL6] Sending 0x90202c0(SLAM_COMMAND_SAVEMAP | Unknown(704)), echo: 1, message size: 4
1099837, 2368717 T652 IPCClient::ProcessNavMsg:986 [debug] [PL6] Payload: 1, 0, 0, 0,
1099838, 2368717 T652 IPCClient::SendNavPacketEx:939 [debug] [PL6] Sending with timeout: 3000
1099839, 2368721 T18760 IPCClient::Callback:913 [debug] [PL6] Callback: Timeout: 0
1099840, 2368722 T652 IPCClient::SendNavPacketEx:953 [debug] [PL6] Result: ret: 76, IsTimeout: 0, IsCancelled: 0
1099841, 2368729 T578 IPCClient::Main:889 [debug] [PL6] Got message: 0x20902bd(Unknown(701)). Size: 4
1099842, 2368729 T578 GMapping::operator():99 [debug] [PL6] Received response!
1099843, 2368729 T578 GMapping::operator():163 [debug] [PL6] Received slam status is (4)
1099844, 2368729 T578 GlobalMovingRelocation::operator():118 [debug] [PL6] Received slam status is (4)
1099845, 2368729 T578 NavCore::ProcessNavMsg:324 [debug] [PL6] Received ipc_slam_status: 4
1099846, 2368729 T652 GMapping::NotifySLAMCommand:151 [debug] [PL6] Rsp: SUCCEED
1099847, 2368729 T652 SLAMRelocationCfgManager::PersistSLAMMap:146 [debug] [PL6] Result: SUCCEED
1099848, 2368731 T652 SLAMRelocationCfgManager::SetBindingMap:106 [info] [PL6] last bind map:2
1099849, 2368732 T652 NavMap::StoreTempObsToSharedMemory:977 [info] [PL6] Start
1099850, 2368836 T652 MotionMonitor::Stop:58 [debug] [PL6] Stop
1099851, 2368836 T652 RobotDevice::Unsubscribe:165 [debug] [PL6] start type: Drop
1099852, 2368837 T652 RobotDevice::Unsubscribe:722 [debug] [PL6] Type: Drop, Index: 1
1099853, 2368837 T652 RobotDevice::Unsubscribe:170 [debug] [PL6] end type: Drop
1099854, 2368837 T652 RobotDevice::Unsubscribe:165 [debug] [PL6] start type: Gyro
1099855, 2368837 T652 RobotDevice::Unsubscribe:722 [debug] [PL6] Type: Gyro, Index: 0
1099856, 2368837 T652 RobotDevice::Unsubscribe:170 [debug] [PL6] end type: Gyro
1099857, 2368837 T652 SLAMRelocationCfgManager::SetMoveStatus:203 [info] [PL6] Set Map1 isMoved:0
1099858, 2368837 T652 ConfigHandler::Flush:94 [debug] [PL6] Updated configuration successfully written to: /mnt/data/rockrobo/slam_info.cfg.cache.
1099859, 2368838 T652 ConfigHandler::Flush:104 [debug] [PL6] File /mnt/data/rockrobo/slam_info.cfg.cache successfully renamed to /mnt/data/rockrobo/slam_info.cfg
1099860, 2368838 T652 MotionMonitor::Start:30 [debug] [PL6] Start
1099861, 2368838 T652 RobotDevice::Subscribe:123 [debug] [PL6] Start subscribe type: Drop
1099862, 2368838 T652 RobotDevice::Suscribe:703 [debug] [PL6] Type: Drop, Index: 1
1099863, 2368838 T652 RobotDevice::Subscribe:131 [debug] [PL6] End subscribe type: Drop
1099864, 2368838 T652 RobotDevice::Subscribe:136 [debug] [PL6] start callback: Drop
1099865, 2368838 T652 RobotDevice::Subscribe:138 [debug] [PL6] end callback: Drop
1099866, 2368838 T652 RobotDevice::Subscribe:123 [debug] [PL6] Start subscribe type: Gyro
1099867, 2368838 T652 RobotDevice::Suscribe:703 [debug] [PL6] Type: Gyro, Index: 0
1099868, 2368838 T652 RobotDevice::Subscribe:131 [debug] [PL6] End subscribe type: Gyro
1099869, 2368838 T652 RobotDevice::Subscribe:136 [debug] [PL6] start callback: Gyro
1099870, 2368838 T652 RobotDevice::Subscribe:138 [debug] [PL6] end callback: Gyro
1099871, 2368838 T652 IPCClient::ProcessNavMsg:979 [debug] [PL6] Sending 0x1022105(NAV_SAVE_MAP_RESULT_RC | Unknown(8453)), echo: 0, message size: 16
1099872, 2368839 T652 IPCClient::ProcessNavMsg:986 [debug] [PL6] Payload: bb, e2, ea, 4, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0,
1099873, 2368846 T652 TaskThread::Main:53 [warn] [PL6] Task[NavCore: Normal] run too long: 129, St: 2368716, Cur: 2368717
1099874, 2424981 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2424981
1099876, 2424982 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099877, 2424982 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099878, 2424982 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099879, 2424982 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099880, 2424982 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
1099881, 2484991 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2484991
1099883, 2484991 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099884, 2484991 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099885, 2484991 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099886, 2484991 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099887, 2484991 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
1099888, 2544999 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2544999
1099890, 2544999 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099891, 2544999 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099892, 2544999 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099893, 2544999 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099894, 2544999 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
1099895, 2605009 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2605009
1099897, 2605009 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099898, 2605009 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099899, 2605009 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099900, 2605010 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099901, 2605010 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
1099902, 2665019 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2665019
1099904, 2665019 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099905, 2665019 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099906, 2665019 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099907, 2665019 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099908, 2665019 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
1099909, 2725029 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2725029
1099911, 2725029 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099912, 2725029 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099913, 2725029 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099914, 2725029 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099915, 2725029 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
1099916, 2785039 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2785039
1099918, 2785039 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099919, 2785039 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099920, 2785039 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099921, 2785039 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099922, 2785039 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
1099923, 2845049 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2845049
1099925, 2845049 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099926, 2845049 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099927, 2845049 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099928, 2845050 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099929, 2845050 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
1099930, 2905059 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2905059
1099932, 2905059 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099933, 2905059 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099934, 2905059 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099935, 2905059 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099936, 2905059 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
1099937, 2965069 T574 ChargingStateManager::SetChargingState:90 [debug] [PL6] Change charging state to 1 and timestamp:2965069
1099939, 2965069 T574 ChargingStateManager::HandlePowerData:66 [info] [PL6] set isTrackingCharger to 1
1099940, 2965069 T574 ChargingStateManager::HandlePowerData:69 [info] [PL6] cur(3702 -2262 1.33) charger(3880 -2258 -178.67) relative(R 178.50 Yaw -180.00 Theta -0.00)
1099941, 2965069 T574 Detector::SetFromRealCharger:101 [info] [PL6] Updated FromCharger flag to 0
1099942, 2965069 T574 Detector::ResetSignalCount:204 [info] [PL6] SigCnt cleared | S 0 0 0 0 | R 0 0 0
1099943, 2965070 T574 Detector::ClearStartPose:135 [debug] [PL6] Start pose cleared
Read-only file system
Model: Roborock S5 Max
Valetudo Ver: 2021.3.17
Dustbin: DustBuilder FW compiled yesterday
Issue: When installing Oucher files, getting read-only file system errors that are preventing mkdir commands from executing. Through looking around, is this caused by squash file system? What other steps are needed to remount the fs?
mkdir: can't create directory '/usr/local': Read-only file system
Log file location and bumper event log for Roborock S5
Hi! Thank you for your work :)
I own a rooted Roborock S5 with Valetudo version 2023.12.0. I built my dustbuilder image using the Firmware version 2034, 11/2020.
Oucher is not working in my setup. I found out that my version doesn't use the "player" software anymore, but instead it uses something called "rr_loader". That's why I don't have the /run/shm/PLAYER_fprintf.log file in my system.
The other NAV_* log files included in the source code don't log any "bumper" event, so they didn't work for me.
After some (hard) insight, I found out that the right log file to look for bumper events in my setup is /run/shm/RRLDR_SERVER_normal.log
When the bumper hits, a lot of event data is logged in. And a valid line in this log should include the text "Bumper On" (without quotes).
Hope this helps someone with a similar setup.
Cheers!
Where is oucher_deps.tgz?
"The awesome guys at the dustcloud project put together all the needed binary dependencies in a single tgz file, which you can find in this repo as oucher_deps.tgz. You should be fine by just copying it to the robot and uncompress it in the root folder"
I'm embarrassingly lost and can't seem to find this .tgz...
Could you point me in the right direction, please?
Thank you!
i8+?
Hello all,
I recently bought an i8+ from Costco and wanted to do something similar, I've been looking at some of the other repos: rooting, etc. and wanted to get a rough idea of what it takes to develop something similar in the case that this stuff doesn't exactly work for the i8. I have a few years of experience in software development, but I have no experience with any of this. What would it take to develop something similar?
Need to chmod S12oucher
I was having a lot of problems other people where having with newer firmware. Maybe you have this in there and I just missed it, but S12oucher was not executing due to perms. chmod S12oucher and suddenly everything started working.
-ash: service: not found
G'day from Australia,
Not sure if a genuine issue, or user error.
I've used WinSCP to transfer all the files across to the directories as in the readme, swapping over to PuTTY and each time I'm trying to write 'service oucher stop' or 'service oucher restart' I get the message '-ash: oucher: not found'.
same is true for another command, 'chmod +x /etc/init/S12oucher' returns 'chmod: cannot access '/etc/init/S12oucher': No such file or directory'
up to this stage I havn't been able to get oucher to work at all :(
I'm pretty new to PuTTY & WinSCP so its probobly a user-error on my end, but would love any assistance!
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