diff --git a/error_comparsion.py b/error_comparsion.py index fc62bdc..238fe0b 100644 --- a/error_comparsion.py +++ b/error_comparsion.py @@ -8,6 +8,9 @@ import glob files = [ "stanley_*_*_*_*.csv", ] +files = [ + "lqr_*_*_*_*_*.csv", +] data = {} for pattern in files: @@ -86,7 +89,7 @@ plt.grid(True, alpha=0.3) plt.legend() plt.tight_layout() -lateral_output = "Lateral_error_comparison.png" +lateral_output = "X_Lateral_error_comparison.png" plt.savefig(lateral_output, dpi=200) plt.show() @@ -111,7 +114,7 @@ plt.grid(True, alpha=0.3) plt.legend() plt.tight_layout() -heading_output = "Heading_error_comparison.png" +heading_output = "X_Heading_error_comparison.png" plt.savefig(heading_output, dpi=200) plt.show() @@ -137,7 +140,7 @@ plt.grid(True, alpha=0.3) plt.legend() plt.tight_layout() -yaw_output = "Yaw_command_comparison.png" +yaw_output = "X_Yaw_command_comparison.png" plt.savefig(yaw_output, dpi=200) plt.show() print("读取完成：") diff --git a/lqr_0.32_1.2_100_10_20.csv 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+MISSION_SPEED = 0.32 ARC_SPACING = 0.3 # stanley para K_YAW = 2.0 K_LAT = 4.0 +# lqr para +Q_e = 50 +Q_h = 15 +R_u = 10 + # 地球半径（m） EARTH_RADIUS = 6378137.0 @@ -169,7 +174,10 @@ path_json = { "turnRadius": TURN_RADIUS, "misionSpeed": MISSION_SPEED, "k_yaw": K_YAW, - "k_lat": K_LAT + "k_lat": K_LAT, + "lqr_Q_e": Q_e, + "lqr_Q_h": Q_h, + "lqr_R_u": R_u }, "features": [ { diff --git a/path_visualizer.log b/path_visualizer.log index a245410..b7f2b71 100644 --- a/path_visualizer.log +++ b/path_visualizer.log @@ -1,3373 +1,4867 @@ -[2026-10-05 17:28:36.617] [path_visualizer] [info] PathVisualizer started -[2026-10-05 17:28:47.117] [path_visualizer] [debug] current_pose_x:0.0, current_pose_y:0.0,current_pose_yaw:-7.77364220994059e-06 -[2026-10-05 17:28:47.117] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 -[2026-10-05 17:28:47.117] [path_visualizer] [debug] current_cmd_angular_z:1.554728441988118e-05 -[2026-10-05 17:28:47.167] [path_visualizer] [debug] current_pose_x:0.0, current_pose_y:0.0,current_pose_yaw:-7.77364220994059e-06 -[2026-10-05 17:28:47.167] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 -[2026-10-05 17:28:47.167] [path_visualizer] [debug] current_cmd_angular_z:1.554728441988118e-05 -[2026-10-05 17:28:47.217] [path_visualizer] [debug] current_pose_x:0.00040875952264720163, current_pose_y:0.001893158832196767,current_pose_yaw:-1.0885819392569829e-05 -[2026-10-05 17:28:47.217] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 -[2026-10-05 17:28:47.217] [path_visualizer] [debug] current_cmd_angular_z:-0.011810436551433 -[2026-10-05 17:28:47.266] [path_visualizer] [debug] current_pose_x:0.00040875952264720163, current_pose_y:0.001893158832196767,current_pose_yaw:-1.0885819392569829e-05 -[2026-10-05 17:28:47.267] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 -[2026-10-05 17:28:47.267] [path_visualizer] [debug] 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17:28:47.667] [path_visualizer] [debug] current_cmd_angular_z:-0.025242347366756925 -[2026-10-05 17:28:47.716] [path_visualizer] [debug] current_pose_x:0.08627308869187271, current_pose_y:0.004792172324434695,current_pose_yaw:-1.2578233508975245e-05 -[2026-10-05 17:28:47.716] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 -[2026-10-05 17:28:47.717] [path_visualizer] [debug] current_cmd_angular_z:-0.02992536082696012 -[2026-10-05 17:28:47.766] [path_visualizer] [debug] current_pose_x:0.08627308869187271, current_pose_y:0.004792172324434695,current_pose_yaw:-1.2578233508975245e-05 -[2026-10-05 17:28:47.767] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 -[2026-10-05 17:28:47.767] [path_visualizer] [debug] current_cmd_angular_z:-0.02992536082696012 -[2026-10-05 17:28:47.816] [path_visualizer] [debug] current_pose_x:0.08627308869187271, current_pose_y:0.004792172324434695,current_pose_yaw:-1.2578233508975245e-05 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18:13:53.886] [path_visualizer] [debug] current_pose_x:0.00040875952264720163, current_pose_y:0.001893158832196767,current_pose_yaw:-1.0885819392569829e-05 +[2026-10-08 18:13:53.886] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 +[2026-10-08 18:13:53.886] [path_visualizer] [debug] current_cmd_angular_z:-0.00483449013812 +[2026-10-08 18:13:53.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:53.938] [path_visualizer] [debug] current_pose_x:0.00040875952264720163, current_pose_y:0.001893158832196767,current_pose_yaw:-1.0885819392569829e-05 +[2026-10-08 18:13:53.938] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 +[2026-10-08 18:13:53.938] [path_visualizer] [debug] current_cmd_angular_z:-0.00483449013812 +[2026-10-08 18:13:53.987] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:53.987] [path_visualizer] [debug] 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18:13:55.137] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.137] [path_visualizer] [debug] current_pose_x:0.2188553973461356, current_pose_y:0.004628125859465643,current_pose_yaw:-0.0022662535775452857 +[2026-10-08 18:13:55.137] [path_visualizer] [debug] current_path_x:0.1937184742638588, current_path_y:5.404476226401575e-08,current_path_yaw:0.0 +[2026-10-08 18:13:55.137] [path_visualizer] [debug] current_cmd_angular_z:-0.008415323648019106 +[2026-10-08 18:13:55.188] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.188] [path_visualizer] [debug] current_pose_x:0.2188553973461356, current_pose_y:0.004628125859465643,current_pose_yaw:-0.0022662535775452857 +[2026-10-08 18:13:55.188] [path_visualizer] [debug] current_path_x:0.1937184742638588, current_path_y:5.404476226401575e-08,current_path_yaw:0.0 +[2026-10-08 18:13:55.188] [path_visualizer] [debug] current_cmd_angular_z:-0.008415323648019106 +[2026-10-08 18:13:55.233] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.233] [path_visualizer] [debug] current_pose_x:0.2188553973461356, current_pose_y:0.004628125859465643,current_pose_yaw:-0.0022662535775452857 +[2026-10-08 18:13:55.233] [path_visualizer] [debug] current_path_x:0.1937184742638588, current_path_y:5.404476226401575e-08,current_path_yaw:0.0 +[2026-10-08 18:13:55.233] [path_visualizer] [debug] current_cmd_angular_z:-0.008415323648019106 +[2026-10-08 18:13:55.288] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.288] [path_visualizer] [debug] current_pose_x:0.24415927228338125, current_pose_y:0.0047255066703909025,current_pose_yaw:-0.002556484891101718 +[2026-10-08 18:13:55.288] [path_visualizer] [debug] current_path_x:0.1937184742638588, current_path_y:5.404476226401575e-08,current_path_yaw:0.0 +[2026-10-08 18:13:55.288] [path_visualizer] [debug] current_cmd_angular_z:-0.008223835771869132 +[2026-10-08 18:13:55.332] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.332] [path_visualizer] [debug] current_pose_x:0.24415927228338125, current_pose_y:0.0047255066703909025,current_pose_yaw:-0.002556484891101718 +[2026-10-08 18:13:55.332] [path_visualizer] [debug] current_path_x:0.1937184742638588, current_path_y:5.404476226401575e-08,current_path_yaw:0.0 +[2026-10-08 18:13:55.332] [path_visualizer] [debug] current_cmd_angular_z:-0.008223835771869132 +[2026-10-08 18:13:55.388] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.388] [path_visualizer] [debug] current_pose_x:0.2694626328019494, current_pose_y:0.004824133959725421,current_pose_yaw:-0.0028390742372721434 +[2026-10-08 18:13:55.388] [path_visualizer] [debug] current_path_x:0.1937184742638588, current_path_y:5.404476226401575e-08,current_path_yaw:0.0 +[2026-10-08 18:13:55.388] [path_visualizer] [debug] current_cmd_angular_z:-0.008047154107021538 +[2026-10-08 18:13:55.435] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.435] [path_visualizer] [debug] current_pose_x:0.2694626328019494, current_pose_y:0.004824133959725421,current_pose_yaw:-0.0028390742372721434 +[2026-10-08 18:13:55.435] [path_visualizer] [debug] current_path_x:0.1937184742638588, current_path_y:5.404476226401575e-08,current_path_yaw:0.0 +[2026-10-08 18:13:55.435] [path_visualizer] [debug] current_cmd_angular_z:-0.008047154107021538 +[2026-10-08 18:13:55.486] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.486] [path_visualizer] [debug] current_pose_x:0.2694626328019494, current_pose_y:0.004824133959725421,current_pose_yaw:-0.0028390742372721434 +[2026-10-08 18:13:55.486] [path_visualizer] [debug] current_path_x:0.1937184742638588, current_path_y:5.404476226401575e-08,current_path_yaw:0.0 +[2026-10-08 18:13:55.486] [path_visualizer] [debug] current_cmd_angular_z:-0.008047154107021538 +[2026-10-08 18:13:55.535] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.535] [path_visualizer] [debug] current_pose_x:0.29476556231121326, current_pose_y:0.004922071237100102,current_pose_yaw:-0.003115928266197443 +[2026-10-08 18:13:55.535] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.535] [path_visualizer] [debug] current_cmd_angular_z:-0.007877280883927806 +[2026-10-08 18:13:55.582] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.582] [path_visualizer] [debug] current_pose_x:0.29476556231121326, current_pose_y:0.004922071237100102,current_pose_yaw:-0.003115928266197443 +[2026-10-08 18:13:55.582] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.582] [path_visualizer] [debug] current_cmd_angular_z:-0.007877280883927806 +[2026-10-08 18:13:55.637] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.637] [path_visualizer] [debug] current_pose_x:0.3200680843443, current_pose_y:0.005019526358948659,current_pose_yaw:-0.003387044882401824 +[2026-10-08 18:13:55.637] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.637] [path_visualizer] [debug] current_cmd_angular_z:-0.007715028866880695 +[2026-10-08 18:13:55.687] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.687] [path_visualizer] [debug] current_pose_x:0.3200680843443, current_pose_y:0.005019526358948659,current_pose_yaw:-0.003387044882401824 +[2026-10-08 18:13:55.687] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.687] [path_visualizer] [debug] current_cmd_angular_z:-0.007715028866880695 +[2026-10-08 18:13:55.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.738] [path_visualizer] [debug] current_pose_x:0.3200680843443, current_pose_y:0.005019526358948659,current_pose_yaw:-0.003387044882401824 +[2026-10-08 18:13:55.738] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.738] [path_visualizer] [debug] current_cmd_angular_z:-0.007715028866880695 +[2026-10-08 18:13:55.787] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.787] [path_visualizer] [debug] current_pose_x:0.34537015531263077, current_pose_y:0.005119836098051257,current_pose_yaw:-0.0036495649255812164 +[2026-10-08 18:13:55.787] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.787] [path_visualizer] [debug] current_cmd_angular_z:-0.007573154313573366 +[2026-10-08 18:13:55.837] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.837] [path_visualizer] [debug] current_pose_x:0.34537015531263077, current_pose_y:0.005119836098051257,current_pose_yaw:-0.0036495649255812164 +[2026-10-08 18:13:55.837] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.837] [path_visualizer] [debug] current_cmd_angular_z:-0.007573154313573366 +[2026-10-08 18:13:55.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.889] [path_visualizer] [debug] current_pose_x:0.34537015531263077, current_pose_y:0.005119836098051257,current_pose_yaw:-0.0036495649255812164 +[2026-10-08 18:13:55.889] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.890] [path_visualizer] [debug] current_cmd_angular_z:-0.007573154313573366 +[2026-10-08 18:13:55.933] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.933] [path_visualizer] [debug] current_pose_x:0.37067188007360063, current_pose_y:0.0052167999164231035,current_pose_yaw:-0.003909209743142128 +[2026-10-08 18:13:55.933] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.933] [path_visualizer] [debug] current_cmd_angular_z:-0.007427075175564073 +[2026-10-08 18:13:55.988] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:55.988] [path_visualizer] [debug] current_pose_x:0.37067188007360063, current_pose_y:0.0052167999164231035,current_pose_yaw:-0.003909209743142128 +[2026-10-08 18:13:55.988] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:55.988] [path_visualizer] [debug] current_cmd_angular_z:-0.007427075175564073 +[2026-10-08 18:13:56.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.038] [path_visualizer] [debug] current_pose_x:0.3959732465059679, current_pose_y:0.005311523777082087,current_pose_yaw:-0.004165031947195529 +[2026-10-08 18:13:56.038] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.038] [path_visualizer] [debug] current_cmd_angular_z:-0.007281064961978542 +[2026-10-08 18:13:56.083] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.083] [path_visualizer] [debug] current_pose_x:0.3959732465059679, current_pose_y:0.005311523777082087,current_pose_yaw:-0.004165031947195529 +[2026-10-08 18:13:56.083] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.083] [path_visualizer] [debug] current_cmd_angular_z:-0.007281064961978542 +[2026-10-08 18:13:56.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.138] [path_visualizer] [debug] current_pose_x:0.3959732465059679, current_pose_y:0.005311523777082087,current_pose_yaw:-0.004165031947195529 +[2026-10-08 18:13:56.138] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.138] [path_visualizer] [debug] current_cmd_angular_z:-0.007281064961978542 +[2026-10-08 18:13:56.186] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.186] [path_visualizer] [debug] current_pose_x:0.42127422346415794, current_pose_y:0.005406241450771378,current_pose_yaw:-0.004415122326463461 +[2026-10-08 18:13:56.186] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.186] [path_visualizer] [debug] current_cmd_angular_z:-0.007143748601203888 +[2026-10-08 18:13:56.236] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.236] [path_visualizer] [debug] current_pose_x:0.42127422346415794, current_pose_y:0.005406241450771378,current_pose_yaw:-0.004415122326463461 +[2026-10-08 18:13:56.236] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.236] [path_visualizer] [debug] current_cmd_angular_z:-0.007143748601203888 +[2026-10-08 18:13:56.288] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.288] [path_visualizer] [debug] current_pose_x:0.4465748119500044, current_pose_y:0.005501161368866047,current_pose_yaw:-0.0046594757586717606 +[2026-10-08 18:13:56.288] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.288] [path_visualizer] [debug] current_cmd_angular_z:-0.007015667961414621 +[2026-10-08 18:13:56.337] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.337] [path_visualizer] [debug] current_pose_x:0.4465748119500044, current_pose_y:0.005501161368866047,current_pose_yaw:-0.0046594757586717606 +[2026-10-08 18:13:56.337] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.337] [path_visualizer] [debug] current_cmd_angular_z:-0.007015667961414621 +[2026-10-08 18:13:56.383] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.383] [path_visualizer] [debug] current_pose_x:0.4465748119500044, current_pose_y:0.005501161368866047,current_pose_yaw:-0.0046594757586717606 +[2026-10-08 18:13:56.383] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.383] [path_visualizer] [debug] current_cmd_angular_z:-0.007015667961414621 +[2026-10-08 18:13:56.435] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.435] [path_visualizer] [debug] current_pose_x:0.47187504309726125, current_pose_y:0.0055942372962451,current_pose_yaw:-0.004900005180388688 +[2026-10-08 18:13:56.435] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.435] [path_visualizer] [debug] current_cmd_angular_z:-0.006888672994925601 +[2026-10-08 18:13:56.486] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.486] [path_visualizer] [debug] current_pose_x:0.47187504309726125, current_pose_y:0.0055942372962451,current_pose_yaw:-0.004900005180388688 +[2026-10-08 18:13:56.486] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.486] [path_visualizer] [debug] current_cmd_angular_z:-0.006888672994925601 +[2026-10-08 18:13:56.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.537] [path_visualizer] [debug] current_pose_x:0.47187504309726125, current_pose_y:0.0055942372962451,current_pose_yaw:-0.004900005180388688 +[2026-10-08 18:13:56.537] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.537] [path_visualizer] [debug] current_cmd_angular_z:-0.006888672994925601 +[2026-10-08 18:13:56.585] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.585] [path_visualizer] [debug] current_pose_x:0.4971749152181662, current_pose_y:0.005685564338028387,current_pose_yaw:-0.005136711057275534 +[2026-10-08 18:13:56.585] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.585] [path_visualizer] [debug] current_cmd_angular_z:-0.006762868207237409 +[2026-10-08 18:13:56.637] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.637] [path_visualizer] [debug] current_pose_x:0.4971749152181662, current_pose_y:0.005685564338028387,current_pose_yaw:-0.005136711057275534 +[2026-10-08 18:13:56.637] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.637] [path_visualizer] [debug] current_cmd_angular_z:-0.006762868207237409 +[2026-10-08 18:13:56.686] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.686] [path_visualizer] [debug] current_pose_x:0.5224744345318344, current_pose_y:0.0057752370026857925,current_pose_yaw:-0.005369592923671006 +[2026-10-08 18:13:56.686] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.686] [path_visualizer] [debug] current_cmd_angular_z:-0.00663877344318131 +[2026-10-08 18:13:56.734] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.734] [path_visualizer] [debug] current_pose_x:0.5224744345318344, current_pose_y:0.0057752370026857925,current_pose_yaw:-0.005369592923671006 +[2026-10-08 18:13:56.734] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.734] [path_visualizer] [debug] current_cmd_angular_z:-0.00663877344318131 +[2026-10-08 18:13:56.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.789] [path_visualizer] [debug] current_pose_x:0.5224744345318344, current_pose_y:0.0057752370026857925,current_pose_yaw:-0.005369592923671006 +[2026-10-08 18:13:56.789] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.789] [path_visualizer] [debug] current_cmd_angular_z:-0.00663877344318131 +[2026-10-08 18:13:56.837] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.837] [path_visualizer] [debug] current_pose_x:0.5477736076303326, current_pose_y:0.005862263145555958,current_pose_yaw:-0.005599606316536666 +[2026-10-08 18:13:56.837] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.838] [path_visualizer] [debug] current_cmd_angular_z:-0.006512255974733405 +[2026-10-08 18:13:56.883] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.883] [path_visualizer] [debug] current_pose_x:0.5477736076303326, current_pose_y:0.005862263145555958,current_pose_yaw:-0.005599606316536666 +[2026-10-08 18:13:56.883] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.883] [path_visualizer] [debug] current_cmd_angular_z:-0.006512255974733405 +[2026-10-08 18:13:56.933] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.933] [path_visualizer] [debug] current_pose_x:0.5730745084425142, current_pose_y:0.005951080581712183,current_pose_yaw:-0.005822932347655296 +[2026-10-08 18:13:56.934] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.934] [path_visualizer] [debug] current_cmd_angular_z:-0.006400490195274795 +[2026-10-08 18:13:56.991] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:56.991] [path_visualizer] [debug] current_pose_x:0.5730745084425142, current_pose_y:0.005951080581712183,current_pose_yaw:-0.005822932347655296 +[2026-10-08 18:13:56.991] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:56.991] [path_visualizer] [debug] current_cmd_angular_z:-0.006400490195274795 +[2026-10-08 18:13:57.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.038] [path_visualizer] [debug] current_pose_x:0.5730745084425142, current_pose_y:0.005951080581712183,current_pose_yaw:-0.005822932347655296 +[2026-10-08 18:13:57.038] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.038] [path_visualizer] [debug] current_cmd_angular_z:-0.006400490195274795 +[2026-10-08 18:13:57.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.087] [path_visualizer] [debug] current_pose_x:0.5983690931454886, current_pose_y:0.006044495293253135,current_pose_yaw:-0.006040648091584444 +[2026-10-08 18:13:57.087] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.087] [path_visualizer] [debug] current_cmd_angular_z:-0.006309029503201665 +[2026-10-08 18:13:57.135] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.135] [path_visualizer] [debug] current_pose_x:0.5983690931454886, current_pose_y:0.006044495293253135,current_pose_yaw:-0.006040648091584444 +[2026-10-08 18:13:57.135] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.135] [path_visualizer] [debug] current_cmd_angular_z:-0.006309029503201665 +[2026-10-08 18:13:57.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.189] [path_visualizer] [debug] current_pose_x:0.5983690931454886, current_pose_y:0.006044495293253135,current_pose_yaw:-0.006040648091584444 +[2026-10-08 18:13:57.189] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.189] [path_visualizer] [debug] current_cmd_angular_z:-0.006309029503201665 +[2026-10-08 18:13:57.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.238] [path_visualizer] [debug] current_pose_x:0.6236577113609855, current_pose_y:0.006132615067628419,current_pose_yaw:-0.006254343781620264 +[2026-10-08 18:13:57.238] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.238] [path_visualizer] [debug] current_cmd_angular_z:-0.006210109671567836 +[2026-10-08 18:13:57.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.289] [path_visualizer] [debug] current_pose_x:0.6236577113609855, current_pose_y:0.006132615067628419,current_pose_yaw:-0.006254343781620264 +[2026-10-08 18:13:57.289] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.289] [path_visualizer] [debug] current_cmd_angular_z:-0.006210109671567836 +[2026-10-08 18:13:57.337] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.337] [path_visualizer] [debug] current_pose_x:0.6489468977300499, current_pose_y:0.006215539344092801,current_pose_yaw:-0.006468044128268957 +[2026-10-08 18:13:57.337] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.337] [path_visualizer] [debug] current_cmd_angular_z:-0.00609786981656316 +[2026-10-08 18:13:57.388] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.388] [path_visualizer] [debug] current_pose_x:0.6489468977300499, current_pose_y:0.006215539344092801,current_pose_yaw:-0.006468044128268957 +[2026-10-08 18:13:57.388] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.388] [path_visualizer] [debug] current_cmd_angular_z:-0.00609786981656316 +[2026-10-08 18:13:57.432] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.432] [path_visualizer] [debug] current_pose_x:0.6489468977300499, current_pose_y:0.006215539344092801,current_pose_yaw:-0.006468044128268957 +[2026-10-08 18:13:57.432] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.432] [path_visualizer] [debug] current_cmd_angular_z:-0.00609786981656316 +[2026-10-08 18:13:57.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.484] [path_visualizer] [debug] current_pose_x:0.67423628121906, current_pose_y:0.0062963723384917005,current_pose_yaw:-0.006678881589323282 +[2026-10-08 18:13:57.484] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.485] [path_visualizer] [debug] current_cmd_angular_z:-0.005984621512757176 +[2026-10-08 18:13:57.534] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.534] [path_visualizer] [debug] current_pose_x:0.67423628121906, current_pose_y:0.0062963723384917005,current_pose_yaw:-0.006678881589323282 +[2026-10-08 18:13:57.534] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.534] [path_visualizer] [debug] current_cmd_angular_z:-0.005984621512757176 +[2026-10-08 18:13:57.585] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.585] [path_visualizer] [debug] current_pose_x:0.6995257053232412, current_pose_y:0.006377331353990164,current_pose_yaw:-0.006884942762553692 +[2026-10-08 18:13:57.585] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.585] [path_visualizer] [debug] current_cmd_angular_z:-0.005878815375962711 +[2026-10-08 18:13:57.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.638] [path_visualizer] [debug] current_pose_x:0.6995257053232412, current_pose_y:0.006377331353990164,current_pose_yaw:-0.006884942762553692 +[2026-10-08 18:13:57.638] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.638] [path_visualizer] [debug] current_cmd_angular_z:-0.005878815375962711 +[2026-10-08 18:13:57.689] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.689] [path_visualizer] [debug] current_pose_x:0.6995257053232412, current_pose_y:0.006377331353990164,current_pose_yaw:-0.006884942762553692 +[2026-10-08 18:13:57.689] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.689] [path_visualizer] [debug] current_cmd_angular_z:-0.005878815375962711 +[2026-10-08 18:13:57.733] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.734] [path_visualizer] [debug] current_pose_x:0.7248151354914599, current_pose_y:0.00645742846795599,current_pose_yaw:-0.0070871817879378796 +[2026-10-08 18:13:57.734] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.734] [path_visualizer] [debug] current_cmd_angular_z:-0.0057767470724617576 +[2026-10-08 18:13:57.788] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.788] [path_visualizer] [debug] current_pose_x:0.7248151354914599, current_pose_y:0.00645742846795599,current_pose_yaw:-0.0070871817879378796 +[2026-10-08 18:13:57.788] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.788] [path_visualizer] [debug] current_cmd_angular_z:-0.0057767470724617576 +[2026-10-08 18:13:57.838] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.838] [path_visualizer] [debug] current_pose_x:0.7248151354914599, current_pose_y:0.00645742846795599,current_pose_yaw:-0.0070871817879378796 +[2026-10-08 18:13:57.838] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.838] [path_visualizer] [debug] current_cmd_angular_z:-0.0057767470724617576 +[2026-10-08 18:13:57.883] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.883] [path_visualizer] [debug] current_pose_x:0.7501001806708921, current_pose_y:0.006538492060236144,current_pose_yaw:-0.007286521140486002 +[2026-10-08 18:13:57.883] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.883] [path_visualizer] [debug] current_cmd_angular_z:-0.0056815614269866924 +[2026-10-08 18:13:57.934] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.934] [path_visualizer] [debug] current_pose_x:0.7501001806708921, current_pose_y:0.006538492060236144,current_pose_yaw:-0.007286521140486002 +[2026-10-08 18:13:57.934] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.934] [path_visualizer] [debug] current_cmd_angular_z:-0.0056815614269866924 +[2026-10-08 18:13:57.983] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:57.983] [path_visualizer] [debug] current_pose_x:0.7753809024495095, current_pose_y:0.006620502122798942,current_pose_yaw:-0.007482918910682201 +[2026-10-08 18:13:57.983] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:57.983] [path_visualizer] [debug] current_cmd_angular_z:-0.005593270853904167 +[2026-10-08 18:13:58.034] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.034] [path_visualizer] [debug] current_pose_x:0.7753809024495095, current_pose_y:0.006620502122798942,current_pose_yaw:-0.007482918910682201 +[2026-10-08 18:13:58.034] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.034] [path_visualizer] [debug] current_cmd_angular_z:-0.005593270853904167 +[2026-10-08 18:13:58.083] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.083] [path_visualizer] [debug] current_pose_x:0.7753809024495095, current_pose_y:0.006620502122798942,current_pose_yaw:-0.007482918910682201 +[2026-10-08 18:13:58.083] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.083] [path_visualizer] [debug] current_cmd_angular_z:-0.005593270853904167 +[2026-10-08 18:13:58.137] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.137] [path_visualizer] [debug] current_pose_x:0.8006587762607462, current_pose_y:0.006701893649533852,current_pose_yaw:-0.007677021902054548 +[2026-10-08 18:13:58.137] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.137] [path_visualizer] [debug] current_cmd_angular_z:-0.005506882340094733 +[2026-10-08 18:13:58.186] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.186] [path_visualizer] [debug] current_pose_x:0.8006587762607462, current_pose_y:0.006701893649533852,current_pose_yaw:-0.007677021902054548 +[2026-10-08 18:13:58.186] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.186] [path_visualizer] [debug] current_cmd_angular_z:-0.005506882340094733 +[2026-10-08 18:13:58.234] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.234] [path_visualizer] [debug] current_pose_x:0.8259367829620733, current_pose_y:0.006783797887939531,current_pose_yaw:-0.00786634348332882 +[2026-10-08 18:13:58.234] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.234] [path_visualizer] [debug] current_cmd_angular_z:-0.005429073117297041 +[2026-10-08 18:13:58.286] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.286] [path_visualizer] [debug] current_pose_x:0.8259367829620733, current_pose_y:0.006783797887939531,current_pose_yaw:-0.00786634348332882 +[2026-10-08 18:13:58.286] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.286] [path_visualizer] [debug] current_cmd_angular_z:-0.005429073117297041 +[2026-10-08 18:13:58.334] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.334] [path_visualizer] [debug] current_pose_x:0.8259367829620733, current_pose_y:0.006783797887939531,current_pose_yaw:-0.00786634348332882 +[2026-10-08 18:13:58.334] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.334] [path_visualizer] [debug] current_cmd_angular_z:-0.005429073117297041 +[2026-10-08 18:13:58.387] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.387] [path_visualizer] [debug] current_pose_x:0.8512165430345895, current_pose_y:0.006862565491863859,current_pose_yaw:-0.008054226636886597 +[2026-10-08 18:13:58.387] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.387] [path_visualizer] [debug] current_cmd_angular_z:-0.005345412320848104 +[2026-10-08 18:13:58.432] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.432] [path_visualizer] [debug] current_pose_x:0.8512165430345895, current_pose_y:0.006862565491863859,current_pose_yaw:-0.008054226636886597 +[2026-10-08 18:13:58.432] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.432] [path_visualizer] [debug] current_cmd_angular_z:-0.005345412320848104 +[2026-10-08 18:13:58.486] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.486] [path_visualizer] [debug] current_pose_x:0.8764948767055358, current_pose_y:0.00693928381668004,current_pose_yaw:-0.008239717222750189 +[2026-10-08 18:13:58.486] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.486] [path_visualizer] [debug] current_cmd_angular_z:-0.005259997555327793 +[2026-10-08 18:13:58.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.538] [path_visualizer] [debug] current_pose_x:0.8764948767055358, current_pose_y:0.00693928381668004,current_pose_yaw:-0.008239717222750189 +[2026-10-08 18:13:58.538] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.538] [path_visualizer] [debug] current_cmd_angular_z:-0.005259997555327793 +[2026-10-08 18:13:58.584] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.584] [path_visualizer] [debug] current_pose_x:0.8764948767055358, current_pose_y:0.00693928381668004,current_pose_yaw:-0.008239717222750189 +[2026-10-08 18:13:58.584] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.584] [path_visualizer] [debug] current_cmd_angular_z:-0.005259997555327793 +[2026-10-08 18:13:58.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.638] [path_visualizer] [debug] current_pose_x:0.9017732958036178, current_pose_y:0.007016715145019666,current_pose_yaw:-0.008420430123806 +[2026-10-08 18:13:58.638] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.638] [path_visualizer] [debug] current_cmd_angular_z:-0.005183808132431874 +[2026-10-08 18:13:58.683] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.683] [path_visualizer] [debug] current_pose_x:0.9017732958036178, current_pose_y:0.007016715145019666,current_pose_yaw:-0.008420430123806 +[2026-10-08 18:13:58.683] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.683] [path_visualizer] [debug] current_cmd_angular_z:-0.005183808132431874 +[2026-10-08 18:13:58.737] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.737] [path_visualizer] [debug] current_pose_x:0.9017732958036178, current_pose_y:0.007016715145019666,current_pose_yaw:-0.008420430123806 +[2026-10-08 18:13:58.737] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.737] [path_visualizer] [debug] current_cmd_angular_z:-0.005183808132431874 +[2026-10-08 18:13:58.788] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.788] [path_visualizer] [debug] current_pose_x:0.9270518487381023, current_pose_y:0.007092865291375857,current_pose_yaw:-0.0085982671007514 +[2026-10-08 18:13:58.788] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.788] [path_visualizer] [debug] current_cmd_angular_z:-0.005108705874229121 +[2026-10-08 18:13:58.833] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.833] [path_visualizer] [debug] current_pose_x:0.9270518487381023, current_pose_y:0.007092865291375857,current_pose_yaw:-0.0085982671007514 +[2026-10-08 18:13:58.833] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.833] [path_visualizer] [debug] current_cmd_angular_z:-0.005108705874229121 +[2026-10-08 18:13:58.884] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.884] [path_visualizer] [debug] current_pose_x:0.952330573061078, current_pose_y:0.007164530803410055,current_pose_yaw:-0.008776099421083925 +[2026-10-08 18:13:58.884] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.884] [path_visualizer] [debug] current_cmd_angular_z:-0.005022119261782816 +[2026-10-08 18:13:58.933] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.933] [path_visualizer] [debug] current_pose_x:0.952330573061078, current_pose_y:0.007164530803410055,current_pose_yaw:-0.008776099421083925 +[2026-10-08 18:13:58.933] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.933] [path_visualizer] [debug] current_cmd_angular_z:-0.005022119261782816 +[2026-10-08 18:13:58.989] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:58.989] [path_visualizer] [debug] current_pose_x:0.952330573061078, current_pose_y:0.007164530803410055,current_pose_yaw:-0.008776099421083925 +[2026-10-08 18:13:58.989] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:58.989] [path_visualizer] [debug] current_cmd_angular_z:-0.005022119261782816 +[2026-10-08 18:13:59.032] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.032] [path_visualizer] [debug] current_pose_x:0.977609426004151, current_pose_y:0.007234941882180627,current_pose_yaw:-0.008951062336564064 +[2026-10-08 18:13:59.032] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.033] [path_visualizer] [debug] current_cmd_angular_z:-0.004936678448729668 +[2026-10-08 18:13:59.089] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.089] [path_visualizer] [debug] current_pose_x:0.977609426004151, current_pose_y:0.007234941882180627,current_pose_yaw:-0.008951062336564064 +[2026-10-08 18:13:59.089] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.089] [path_visualizer] [debug] current_cmd_angular_z:-0.004936678448729668 +[2026-10-08 18:13:59.132] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.132] [path_visualizer] [debug] current_pose_x:0.977609426004151, current_pose_y:0.007234941882180627,current_pose_yaw:-0.008951062336564064 +[2026-10-08 18:13:59.132] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.132] [path_visualizer] [debug] current_cmd_angular_z:-0.004936678448729668 +[2026-10-08 18:13:59.188] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.188] [path_visualizer] [debug] current_pose_x:1.002888378956372, current_pose_y:0.007306362609693152,current_pose_yaw:-0.009121243841946125 +[2026-10-08 18:13:59.188] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.188] [path_visualizer] [debug] current_cmd_angular_z:-0.00486109027858757 +[2026-10-08 18:13:59.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.238] [path_visualizer] [debug] current_pose_x:1.002888378956372, current_pose_y:0.007306362609693152,current_pose_yaw:-0.009121243841946125 +[2026-10-08 18:13:59.238] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.238] [path_visualizer] [debug] current_cmd_angular_z:-0.00486109027858757 +[2026-10-08 18:13:59.286] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.286] [path_visualizer] [debug] current_pose_x:1.0281695963774808, current_pose_y:0.007375686752335034,current_pose_yaw:-0.009289507754147051 +[2026-10-08 18:13:59.286] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.286] [path_visualizer] [debug] current_cmd_angular_z:-0.004783043667166595 +[2026-10-08 18:13:59.333] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.333] [path_visualizer] [debug] current_pose_x:1.0281695963774808, current_pose_y:0.007375686752335034,current_pose_yaw:-0.009289507754147051 +[2026-10-08 18:13:59.333] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.333] [path_visualizer] [debug] current_cmd_angular_z:-0.004783043667166595 +[2026-10-08 18:13:59.384] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.384] [path_visualizer] [debug] current_pose_x:1.0281695963774808, current_pose_y:0.007375686752335034,current_pose_yaw:-0.009289507754147051 +[2026-10-08 18:13:59.384] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.384] [path_visualizer] [debug] current_cmd_angular_z:-0.004783043667166595 +[2026-10-08 18:13:59.435] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.435] [path_visualizer] [debug] current_pose_x:1.0534493852294888, current_pose_y:0.007442369300955709,current_pose_yaw:-0.0094563327729702 +[2026-10-08 18:13:59.435] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.435] [path_visualizer] [debug] current_cmd_angular_z:-0.004700414681704668 +[2026-10-08 18:13:59.487] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.487] [path_visualizer] [debug] current_pose_x:1.0534493852294888, current_pose_y:0.007442369300955709,current_pose_yaw:-0.0094563327729702 +[2026-10-08 18:13:59.487] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.487] [path_visualizer] [debug] current_cmd_angular_z:-0.004700414681704668 +[2026-10-08 18:13:59.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.537] [path_visualizer] [debug] current_pose_x:1.0787287304022077, current_pose_y:0.007509716004464364,current_pose_yaw:-0.009618853218853474 +[2026-10-08 18:13:59.537] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.537] [path_visualizer] [debug] current_cmd_angular_z:-0.004625889990544609 +[2026-10-08 18:13:59.588] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.588] [path_visualizer] [debug] current_pose_x:1.0787287304022077, current_pose_y:0.007509716004464364,current_pose_yaw:-0.009618853218853474 +[2026-10-08 18:13:59.588] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.588] [path_visualizer] [debug] current_cmd_angular_z:-0.004625889990544609 +[2026-10-08 18:13:59.637] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.637] [path_visualizer] [debug] current_pose_x:1.0787287304022077, current_pose_y:0.007509716004464364,current_pose_yaw:-0.009618853218853474 +[2026-10-08 18:13:59.637] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.637] [path_visualizer] [debug] current_cmd_angular_z:-0.004625889990544609 +[2026-10-08 18:13:59.690] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.690] [path_visualizer] [debug] current_pose_x:1.104008195628027, current_pose_y:0.007577294937851369,current_pose_yaw:-0.009777546860277653 +[2026-10-08 18:13:59.690] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.690] [path_visualizer] [debug] current_cmd_angular_z:-0.004557913811656565 +[2026-10-08 18:13:59.735] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.735] [path_visualizer] [debug] current_pose_x:1.104008195628027, current_pose_y:0.007577294937851369,current_pose_yaw:-0.009777546860277653 +[2026-10-08 18:13:59.735] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.735] [path_visualizer] [debug] current_cmd_angular_z:-0.004557913811656565 +[2026-10-08 18:13:59.787] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.787] [path_visualizer] [debug] current_pose_x:1.1292878182851955, current_pose_y:0.007640885038000964,current_pose_yaw:-0.00993623211979866 +[2026-10-08 18:13:59.787] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.787] [path_visualizer] [debug] current_cmd_angular_z:-0.004479729380279055 +[2026-10-08 18:13:59.838] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.838] [path_visualizer] [debug] current_pose_x:1.1292878182851955, current_pose_y:0.007640885038000964,current_pose_yaw:-0.00993623211979866 +[2026-10-08 18:13:59.838] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.838] [path_visualizer] [debug] current_cmd_angular_z:-0.004479729380279055 +[2026-10-08 18:13:59.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.889] [path_visualizer] [debug] current_pose_x:1.1292878182851955, current_pose_y:0.007640885038000964,current_pose_yaw:-0.00993623211979866 +[2026-10-08 18:13:59.889] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.889] [path_visualizer] [debug] current_cmd_angular_z:-0.004479729380279055 +[2026-10-08 18:13:59.932] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.932] [path_visualizer] [debug] current_pose_x:1.1545675471479617, current_pose_y:0.007705861577132084,current_pose_yaw:-0.010090138763189316 +[2026-10-08 18:13:59.932] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.932] [path_visualizer] [debug] current_cmd_angular_z:-0.00441235883385567 +[2026-10-08 18:13:59.986] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:13:59.986] [path_visualizer] [debug] current_pose_x:1.1545675471479617, current_pose_y:0.007705861577132084,current_pose_yaw:-0.010090138763189316 +[2026-10-08 18:13:59.986] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:13:59.986] [path_visualizer] [debug] current_cmd_angular_z:-0.00441235883385567 +[2026-10-08 18:14:00.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.038] [path_visualizer] [debug] current_pose_x:1.1545675471479617, current_pose_y:0.007705861577132084,current_pose_yaw:-0.010090138763189316 +[2026-10-08 18:14:00.038] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.038] [path_visualizer] [debug] current_cmd_angular_z:-0.00441235883385567 +[2026-10-08 18:14:00.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.088] [path_visualizer] [debug] current_pose_x:1.1798473969994023, current_pose_y:0.007770234566342291,current_pose_yaw:-0.010241168551146986 +[2026-10-08 18:14:00.088] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.088] [path_visualizer] [debug] current_cmd_angular_z:-0.004347813232174048 +[2026-10-08 18:14:00.135] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.135] [path_visualizer] [debug] current_pose_x:1.1798473969994023, current_pose_y:0.007770234566342291,current_pose_yaw:-0.010241168551146986 +[2026-10-08 18:14:00.135] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.135] [path_visualizer] [debug] current_cmd_angular_z:-0.004347813232174048 +[2026-10-08 18:14:00.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.189] [path_visualizer] [debug] current_pose_x:1.2051274083457044, current_pose_y:0.007830802363246495,current_pose_yaw:-0.01039219181984663 +[2026-10-08 18:14:00.189] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.189] [path_visualizer] [debug] current_cmd_angular_z:-0.004273527109300415 +[2026-10-08 18:14:00.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.238] [path_visualizer] [debug] current_pose_x:1.2051274083457044, current_pose_y:0.007830802363246495,current_pose_yaw:-0.01039219181984663 +[2026-10-08 18:14:00.238] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.238] [path_visualizer] [debug] current_cmd_angular_z:-0.004273527109300415 +[2026-10-08 18:14:00.283] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.283] [path_visualizer] [debug] current_pose_x:1.2051274083457044, current_pose_y:0.007830802363246495,current_pose_yaw:-0.01039219181984663 +[2026-10-08 18:14:00.283] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.283] [path_visualizer] [debug] current_cmd_angular_z:-0.004273527109300415 +[2026-10-08 18:14:00.336] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.336] [path_visualizer] [debug] current_pose_x:1.2304075361079012, current_pose_y:0.007890790857977538,current_pose_yaw:-0.010540343821048738 +[2026-10-08 18:14:00.336] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.336] [path_visualizer] [debug] current_cmd_angular_z:-0.004202119572552898 +[2026-10-08 18:14:00.389] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.389] [path_visualizer] [debug] current_pose_x:1.2304075361079012, current_pose_y:0.007890790857977538,current_pose_yaw:-0.010540343821048738 +[2026-10-08 18:14:00.389] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.389] [path_visualizer] [debug] current_cmd_angular_z:-0.004202119572552898 +[2026-10-08 18:14:00.439] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.439] [path_visualizer] [debug] current_pose_x:1.2556878057454686, current_pose_y:0.007948149772553693,current_pose_yaw:-0.01068753283470869 +[2026-10-08 18:14:00.439] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.440] [path_visualizer] [debug] current_cmd_angular_z:-0.0041254372907017535 +[2026-10-08 18:14:00.488] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.489] [path_visualizer] [debug] current_pose_x:1.2556878057454686, current_pose_y:0.007948149772553693,current_pose_yaw:-0.01068753283470869 +[2026-10-08 18:14:00.489] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.489] [path_visualizer] [debug] current_cmd_angular_z:-0.0041254372907017535 +[2026-10-08 18:14:00.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.537] [path_visualizer] [debug] current_pose_x:1.2556878057454686, current_pose_y:0.007948149772553693,current_pose_yaw:-0.01068753283470869 +[2026-10-08 18:14:00.537] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.537] [path_visualizer] [debug] current_cmd_angular_z:-0.0041254372907017535 +[2026-10-08 18:14:00.591] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.591] [path_visualizer] [debug] current_pose_x:1.2809681890946918, current_pose_y:0.008006119660561185,current_pose_yaw:-0.010830894112586975 +[2026-10-08 18:14:00.591] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.591] [path_visualizer] [debug] current_cmd_angular_z:-0.004055998460371659 +[2026-10-08 18:14:00.635] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.635] [path_visualizer] [debug] current_pose_x:1.2809681890946918, current_pose_y:0.008006119660561185,current_pose_yaw:-0.010830894112586975 +[2026-10-08 18:14:00.635] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.635] [path_visualizer] [debug] current_cmd_angular_z:-0.004055998460371659 +[2026-10-08 18:14:00.690] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.690] [path_visualizer] [debug] current_pose_x:1.2809681890946918, current_pose_y:0.008006119660561185,current_pose_yaw:-0.010830894112586975 +[2026-10-08 18:14:00.690] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.690] [path_visualizer] [debug] current_cmd_angular_z:-0.004055998460371659 +[2026-10-08 18:14:00.742] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.742] [path_visualizer] [debug] current_pose_x:1.306248683102785, current_pose_y:0.008064808524495728,current_pose_yaw:-0.010970426723361014 +[2026-10-08 18:14:00.742] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.742] [path_visualizer] [debug] current_cmd_angular_z:-0.003994358211083557 +[2026-10-08 18:14:00.788] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.788] [path_visualizer] [debug] current_pose_x:1.306248683102785, current_pose_y:0.008064808524495728,current_pose_yaw:-0.010970426723361014 +[2026-10-08 18:14:00.788] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.788] [path_visualizer] [debug] current_cmd_angular_z:-0.003994358211083557 +[2026-10-08 18:14:00.840] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.840] [path_visualizer] [debug] current_pose_x:1.3315293271466775, current_pose_y:0.008119991485776863,current_pose_yaw:-0.011109950952231884 +[2026-10-08 18:14:00.840] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.840] [path_visualizer] [debug] current_cmd_angular_z:-0.003923747170972713 +[2026-10-08 18:14:00.884] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.884] [path_visualizer] [debug] current_pose_x:1.3315293271466775, current_pose_y:0.008119991485776863,current_pose_yaw:-0.011109950952231884 +[2026-10-08 18:14:00.884] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.884] [path_visualizer] [debug] current_cmd_angular_z:-0.003923747170972713 +[2026-10-08 18:14:00.939] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.939] [path_visualizer] [debug] current_pose_x:1.3315293271466775, current_pose_y:0.008119991485776863,current_pose_yaw:-0.011109950952231884 +[2026-10-08 18:14:00.939] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.939] [path_visualizer] [debug] current_cmd_angular_z:-0.003923747170972713 +[2026-10-08 18:14:00.989] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:00.989] [path_visualizer] [debug] current_pose_x:1.356810088851111, current_pose_y:0.008174889574094941,current_pose_yaw:-0.011246602050960064 +[2026-10-08 18:14:00.989] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:00.989] [path_visualizer] [debug] current_cmd_angular_z:-0.0038567719929560353 +[2026-10-08 18:14:01.039] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.039] [path_visualizer] [debug] current_pose_x:1.356810088851111, current_pose_y:0.008174889574094941,current_pose_yaw:-0.011246602050960064 +[2026-10-08 18:14:01.039] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.039] [path_visualizer] [debug] current_cmd_angular_z:-0.0038567719929560353 +[2026-10-08 18:14:01.085] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.085] [path_visualizer] [debug] current_pose_x:1.3820909875334442, current_pose_y:0.008227445303594105,current_pose_yaw:-0.011382289230823517 +[2026-10-08 18:14:01.085] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.085] [path_visualizer] [debug] current_cmd_angular_z:-0.003785259461165133 +[2026-10-08 18:14:01.133] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.133] [path_visualizer] [debug] current_pose_x:1.3820909875334442, current_pose_y:0.008227445303594105,current_pose_yaw:-0.011382289230823517 +[2026-10-08 18:14:01.133] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.133] [path_visualizer] [debug] current_cmd_angular_z:-0.003785259461165133 +[2026-10-08 18:14:01.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.190] [path_visualizer] [debug] current_pose_x:1.3820909875334442, current_pose_y:0.008227445303594105,current_pose_yaw:-0.011382289230823517 +[2026-10-08 18:14:01.190] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.190] [path_visualizer] [debug] current_cmd_angular_z:-0.003785259461165133 +[2026-10-08 18:14:01.240] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.240] [path_visualizer] [debug] current_pose_x:1.4073719852489002, current_pose_y:0.008281970341141944,current_pose_yaw:-0.011513195000588894 +[2026-10-08 18:14:01.240] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.240] [path_visualizer] [debug] current_cmd_angular_z:-0.003726058603965056 +[2026-10-08 18:14:01.284] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.284] [path_visualizer] [debug] current_pose_x:1.4073719852489002, current_pose_y:0.008281970341141944,current_pose_yaw:-0.011513195000588894 +[2026-10-08 18:14:01.284] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.284] [path_visualizer] [debug] current_cmd_angular_z:-0.003726058603965056 +[2026-10-08 18:14:01.339] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.339] [path_visualizer] [debug] current_pose_x:1.4073719852489002, current_pose_y:0.008281970341141944,current_pose_yaw:-0.011513195000588894 +[2026-10-08 18:14:01.339] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.339] [path_visualizer] [debug] current_cmd_angular_z:-0.003726058603965056 +[2026-10-08 18:14:01.385] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.385] [path_visualizer] [debug] current_pose_x:1.4326530977458436, current_pose_y:0.00833647515784464,current_pose_yaw:-0.011641222983598709 +[2026-10-08 18:14:01.385] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.385] [path_visualizer] [debug] current_cmd_angular_z:-0.0036711788295160294 +[2026-10-08 18:14:01.437] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.437] [path_visualizer] [debug] current_pose_x:1.4326530977458436, current_pose_y:0.00833647515784464,current_pose_yaw:-0.011641222983598709 +[2026-10-08 18:14:01.437] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.437] [path_visualizer] [debug] current_cmd_angular_z:-0.0036711788295160294 +[2026-10-08 18:14:01.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.484] [path_visualizer] [debug] current_pose_x:1.4579343565023493, current_pose_y:0.008387754786401407,current_pose_yaw:-0.011769242584705353 +[2026-10-08 18:14:01.484] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.484] [path_visualizer] [debug] current_cmd_angular_z:-0.0036079090829581814 +[2026-10-08 18:14:01.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.538] [path_visualizer] [debug] current_pose_x:1.4579343565023493, current_pose_y:0.008387754786401407,current_pose_yaw:-0.011769242584705353 +[2026-10-08 18:14:01.538] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.538] [path_visualizer] [debug] current_cmd_angular_z:-0.0036079090829581814 +[2026-10-08 18:14:01.584] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.584] [path_visualizer] [debug] current_pose_x:1.4579343565023493, current_pose_y:0.008387754786401407,current_pose_yaw:-0.011769242584705353 +[2026-10-08 18:14:01.584] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.584] [path_visualizer] [debug] current_cmd_angular_z:-0.0036079090829581814 +[2026-10-08 18:14:01.633] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.633] [path_visualizer] [debug] current_pose_x:1.4832157304104723, current_pose_y:0.008439042805035258,current_pose_yaw:-0.011894389055669308 +[2026-10-08 18:14:01.633] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.633] [path_visualizer] [debug] current_cmd_angular_z:-0.0035491651402506687 +[2026-10-08 18:14:01.689] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.689] [path_visualizer] [debug] current_pose_x:1.4832157304104723, current_pose_y:0.008439042805035258,current_pose_yaw:-0.011894389055669308 +[2026-10-08 18:14:01.689] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.689] [path_visualizer] [debug] current_cmd_angular_z:-0.0035491651402506687 +[2026-10-08 18:14:01.732] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.732] [path_visualizer] [debug] current_pose_x:1.5084972352777894, current_pose_y:0.008488278182093655,current_pose_yaw:-0.01201857067644596 +[2026-10-08 18:14:01.732] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.732] [path_visualizer] [debug] current_cmd_angular_z:-0.0034866276306134286 +[2026-10-08 18:14:01.783] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.783] [path_visualizer] [debug] current_pose_x:1.5084972352777894, current_pose_y:0.008488278182093655,current_pose_yaw:-0.01201857067644596 +[2026-10-08 18:14:01.783] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.783] [path_visualizer] [debug] current_cmd_angular_z:-0.0034866276306134286 +[2026-10-08 18:14:01.840] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.840] [path_visualizer] [debug] current_pose_x:1.5084972352777894, current_pose_y:0.008488278182093655,current_pose_yaw:-0.01201857067644596 +[2026-10-08 18:14:01.840] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.840] [path_visualizer] [debug] current_cmd_angular_z:-0.0034866276306134286 +[2026-10-08 18:14:01.886] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.886] [path_visualizer] [debug] current_pose_x:1.5337788428527435, current_pose_y:0.008538709718899064,current_pose_yaw:-0.012138922698795795 +[2026-10-08 18:14:01.886] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.886] [path_visualizer] [debug] current_cmd_angular_z:-0.003432974369012947 +[2026-10-08 18:14:01.939] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.939] [path_visualizer] [debug] current_pose_x:1.5337788428527435, current_pose_y:0.008538709718899064,current_pose_yaw:-0.012138922698795795 +[2026-10-08 18:14:01.939] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.939] [path_visualizer] [debug] current_cmd_angular_z:-0.003432974369012947 +[2026-10-08 18:14:01.985] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:01.985] [path_visualizer] [debug] current_pose_x:1.5337788428527435, current_pose_y:0.008538709718899064,current_pose_yaw:-0.012138922698795795 +[2026-10-08 18:14:01.985] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:01.985] [path_visualizer] [debug] current_cmd_angular_z:-0.003432974369012947 +[2026-10-08 18:14:02.037] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.037] [path_visualizer] [debug] current_pose_x:1.5590605869159593, current_pose_y:0.00858612185645943,current_pose_yaw:-0.01225926447659731 +[2026-10-08 18:14:02.037] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.037] [path_visualizer] [debug] current_cmd_angular_z:-0.0033715997636179357 +[2026-10-08 18:14:02.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.087] [path_visualizer] [debug] current_pose_x:1.5590605869159593, current_pose_y:0.00858612185645943,current_pose_yaw:-0.01225926447659731 +[2026-10-08 18:14:02.087] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.087] [path_visualizer] [debug] current_cmd_angular_z:-0.0033715997636179357 +[2026-10-08 18:14:02.132] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.132] [path_visualizer] [debug] current_pose_x:1.5843424360743834, current_pose_y:0.008634824572932473,current_pose_yaw:-0.012375777587294579 +[2026-10-08 18:14:02.132] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.132] [path_visualizer] [debug] current_cmd_angular_z:-0.0033193499308190114 +[2026-10-08 18:14:02.185] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.185] [path_visualizer] [debug] current_pose_x:1.5843424360743834, current_pose_y:0.008634824572932473,current_pose_yaw:-0.012375777587294579 +[2026-10-08 18:14:02.185] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.185] [path_visualizer] [debug] current_cmd_angular_z:-0.0033193499308190114 +[2026-10-08 18:14:02.235] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.235] [path_visualizer] [debug] current_pose_x:1.5843424360743834, current_pose_y:0.008634824572932473,current_pose_yaw:-0.012375777587294579 +[2026-10-08 18:14:02.235] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.235] [path_visualizer] [debug] current_cmd_angular_z:-0.0033193499308190114 +[2026-10-08 18:14:02.286] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.287] [path_visualizer] [debug] current_pose_x:1.6096244207548056, current_pose_y:0.008680603428363187,current_pose_yaw:-0.012492280453443525 +[2026-10-08 18:14:02.287] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.287] [path_visualizer] [debug] current_cmd_angular_z:-0.0032596235613831237 +[2026-10-08 18:14:02.336] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.336] [path_visualizer] [debug] current_pose_x:1.6096244207548056, current_pose_y:0.008680603428363187,current_pose_yaw:-0.012492280453443525 +[2026-10-08 18:14:02.336] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.336] [path_visualizer] [debug] current_cmd_angular_z:-0.0032596235613831237 +[2026-10-08 18:14:02.390] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.390] [path_visualizer] [debug] current_pose_x:1.6349065038119215, current_pose_y:0.008727771852388138,current_pose_yaw:-0.01260495278984308 +[2026-10-08 18:14:02.390] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.390] [path_visualizer] [debug] current_cmd_angular_z:-0.00320927844612651 +[2026-10-08 18:14:02.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.438] [path_visualizer] [debug] current_pose_x:1.6349065038119215, current_pose_y:0.008727771852388138,current_pose_yaw:-0.01260495278984308 +[2026-10-08 18:14:02.438] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.438] [path_visualizer] [debug] current_cmd_angular_z:-0.00320927844612651 +[2026-10-08 18:14:02.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.484] [path_visualizer] [debug] current_pose_x:1.6349065038119215, current_pose_y:0.008727771852388138,current_pose_yaw:-0.01260495278984308 +[2026-10-08 18:14:02.484] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.484] [path_visualizer] [debug] current_cmd_angular_z:-0.00320927844612651 +[2026-10-08 18:14:02.540] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.540] [path_visualizer] [debug] current_pose_x:1.6601887183828308, current_pose_y:0.00877211598480337,current_pose_yaw:-0.012717614881694317 +[2026-10-08 18:14:02.540] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.540] [path_visualizer] [debug] current_cmd_angular_z:-0.0031515734466801074 +[2026-10-08 18:14:02.587] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.587] [path_visualizer] [debug] current_pose_x:1.6601887183828308, current_pose_y:0.00877211598480337,current_pose_yaw:-0.012717614881694317 +[2026-10-08 18:14:02.587] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.587] [path_visualizer] [debug] current_cmd_angular_z:-0.0031515734466801074 +[2026-10-08 18:14:02.636] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.636] [path_visualizer] [debug] current_pose_x:1.6854710345954504, current_pose_y:0.008817946395250131,current_pose_yaw:-0.012826446443796158 +[2026-10-08 18:14:02.636] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.636] [path_visualizer] [debug] current_cmd_angular_z:-0.003103635994079538 +[2026-10-08 18:14:02.684] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.684] [path_visualizer] [debug] current_pose_x:1.6854710345954504, current_pose_y:0.008817946395250131,current_pose_yaw:-0.012826446443796158 +[2026-10-08 18:14:02.684] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.685] [path_visualizer] [debug] current_cmd_angular_z:-0.003103635994079538 +[2026-10-08 18:14:02.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.738] [path_visualizer] [debug] current_pose_x:1.6854710345954504, current_pose_y:0.008817946395250131,current_pose_yaw:-0.012826446443796158 +[2026-10-08 18:14:02.738] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.738] [path_visualizer] [debug] current_cmd_angular_z:-0.003103635994079538 +[2026-10-08 18:14:02.783] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.783] [path_visualizer] [debug] current_pose_x:1.7107459153439666, current_pose_y:0.008874602550328839,current_pose_yaw:-0.012930091470479965 +[2026-10-08 18:14:02.783] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.783] [path_visualizer] [debug] current_cmd_angular_z:-0.0030913195573314366 +[2026-10-08 18:14:02.839] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.839] [path_visualizer] [debug] current_pose_x:1.7107459153439666, current_pose_y:0.008874602550328839,current_pose_yaw:-0.012930091470479965 +[2026-10-08 18:14:02.839] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.839] [path_visualizer] [debug] current_cmd_angular_z:-0.0030913195573314366 +[2026-10-08 18:14:02.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.889] [path_visualizer] [debug] current_pose_x:1.7107459153439666, current_pose_y:0.008874602550328839,current_pose_yaw:-0.012930091470479965 +[2026-10-08 18:14:02.889] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.889] [path_visualizer] [debug] current_cmd_angular_z:-0.0030913195573314366 +[2026-10-08 18:14:02.940] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.940] [path_visualizer] [debug] current_pose_x:1.7360212163838535, current_pose_y:0.00893136070335273,current_pose_yaw:-0.013030982576310636 +[2026-10-08 18:14:02.940] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.940] [path_visualizer] [debug] current_cmd_angular_z:-0.0030834491583190023 +[2026-10-08 18:14:02.985] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:02.985] [path_visualizer] [debug] current_pose_x:1.7360212163838535, current_pose_y:0.00893136070335273,current_pose_yaw:-0.013030982576310636 +[2026-10-08 18:14:02.985] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:02.985] [path_visualizer] [debug] current_cmd_angular_z:-0.0030834491583190023 +[2026-10-08 18:14:03.040] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.041] [path_visualizer] [debug] current_pose_x:1.7612929439536669, current_pose_y:0.00898325092550002,current_pose_yaw:-0.013131047599017618 +[2026-10-08 18:14:03.041] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.041] [path_visualizer] [debug] current_cmd_angular_z:-0.003064360431739587 +[2026-10-08 18:14:03.090] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.090] [path_visualizer] [debug] current_pose_x:1.7612929439536669, current_pose_y:0.00898325092550002,current_pose_yaw:-0.013131047599017618 +[2026-10-08 18:14:03.090] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.090] [path_visualizer] [debug] current_cmd_angular_z:-0.003064360431739587 +[2026-10-08 18:14:03.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.138] [path_visualizer] [debug] current_pose_x:1.7612929439536669, current_pose_y:0.00898325092550002,current_pose_yaw:-0.013131047599017618 +[2026-10-08 18:14:03.138] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.138] [path_visualizer] [debug] current_cmd_angular_z:-0.003064360431739587 +[2026-10-08 18:14:03.185] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.185] [path_visualizer] [debug] current_pose_x:1.7865611276427626, current_pose_y:0.00903031937279937,current_pose_yaw:-0.013230265118181704 +[2026-10-08 18:14:03.185] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.185] [path_visualizer] [debug] current_cmd_angular_z:-0.00303420419690233 +[2026-10-08 18:14:03.240] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.240] [path_visualizer] [debug] current_pose_x:1.7865611276427626, current_pose_y:0.00903031937279937,current_pose_yaw:-0.013230265118181704 +[2026-10-08 18:14:03.240] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.240] [path_visualizer] [debug] current_cmd_angular_z:-0.00303420419690233 +[2026-10-08 18:14:03.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.289] [path_visualizer] [debug] current_pose_x:1.8118270717929064, current_pose_y:0.009073355161461289,current_pose_yaw:-0.013328911736607552 +[2026-10-08 18:14:03.289] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.289] [path_visualizer] [debug] current_cmd_angular_z:-0.002994582178194878 +[2026-10-08 18:14:03.339] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.339] [path_visualizer] [debug] current_pose_x:1.8118270717929064, current_pose_y:0.009073355161461289,current_pose_yaw:-0.013328911736607552 +[2026-10-08 18:14:03.339] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.339] [path_visualizer] [debug] current_cmd_angular_z:-0.002994582178194878 +[2026-10-08 18:14:03.387] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.387] [path_visualizer] [debug] current_pose_x:1.8118270717929064, current_pose_y:0.009073355161461289,current_pose_yaw:-0.013328911736607552 +[2026-10-08 18:14:03.387] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.387] [path_visualizer] [debug] current_cmd_angular_z:-0.002994582178194878 +[2026-10-08 18:14:03.436] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.436] [path_visualizer] [debug] current_pose_x:1.8370934270778012, current_pose_y:0.00911491426740147,current_pose_yaw:-0.01342665031552315 +[2026-10-08 18:14:03.436] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.436] [path_visualizer] [debug] current_cmd_angular_z:-0.0029525561041362745 +[2026-10-08 18:14:03.486] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.486] [path_visualizer] [debug] current_pose_x:1.8370934270778012, current_pose_y:0.00911491426740147,current_pose_yaw:-0.01342665031552315 +[2026-10-08 18:14:03.486] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.487] [path_visualizer] [debug] current_cmd_angular_z:-0.0029525561041362745 +[2026-10-08 18:14:03.535] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.535] [path_visualizer] [debug] current_pose_x:1.8370934270778012, current_pose_y:0.00911491426740147,current_pose_yaw:-0.01342665031552315 +[2026-10-08 18:14:03.535] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.536] [path_visualizer] [debug] current_cmd_angular_z:-0.0029525561041362745 +[2026-10-08 18:14:03.587] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.587] [path_visualizer] [debug] current_pose_x:1.862360228729736, current_pose_y:0.009156960661879184,current_pose_yaw:-0.013521653600037098 +[2026-10-08 18:14:03.587] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.587] [path_visualizer] [debug] current_cmd_angular_z:-0.002915796548822139 +[2026-10-08 18:14:03.635] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.635] [path_visualizer] [debug] current_pose_x:1.862360228729736, current_pose_y:0.009156960661879184,current_pose_yaw:-0.013521653600037098 +[2026-10-08 18:14:03.635] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.635] [path_visualizer] [debug] current_cmd_angular_z:-0.002915796548822139 +[2026-10-08 18:14:03.683] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.684] [path_visualizer] [debug] current_pose_x:1.8876273281491946, current_pose_y:0.00919662924992853,current_pose_yaw:-0.013616658747196198 +[2026-10-08 18:14:03.684] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.684] [path_visualizer] [debug] current_cmd_angular_z:-0.0028730797546331864 +[2026-10-08 18:14:03.740] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.740] [path_visualizer] [debug] current_pose_x:1.8876273281491946, current_pose_y:0.00919662924992853,current_pose_yaw:-0.013616658747196198 +[2026-10-08 18:14:03.740] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.740] [path_visualizer] [debug] current_cmd_angular_z:-0.0028730797546331864 +[2026-10-08 18:14:03.784] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.784] [path_visualizer] [debug] current_pose_x:1.8876273281491946, current_pose_y:0.00919662924992853,current_pose_yaw:-0.013616658747196198 +[2026-10-08 18:14:03.784] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.784] [path_visualizer] [debug] current_cmd_angular_z:-0.0028730797546331864 +[2026-10-08 18:14:03.841] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.841] [path_visualizer] [debug] current_pose_x:1.9128962327302643, current_pose_y:0.009236559643065648,current_pose_yaw:-0.013712615706026554 +[2026-10-08 18:14:03.841] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.841] [path_visualizer] [debug] current_cmd_angular_z:-0.002829587499180223 +[2026-10-08 18:14:03.892] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.892] [path_visualizer] [debug] current_pose_x:1.9128962327302643, current_pose_y:0.009236559643065648,current_pose_yaw:-0.013712615706026554 +[2026-10-08 18:14:03.892] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.892] [path_visualizer] [debug] current_cmd_angular_z:-0.002829587499180223 +[2026-10-08 18:14:03.940] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.940] [path_visualizer] [debug] current_pose_x:1.9381676682303786, current_pose_y:0.009281759055338727,current_pose_yaw:-0.013806312344968319 +[2026-10-08 18:14:03.940] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.940] [path_visualizer] [debug] current_cmd_angular_z:-0.0028030312164181413 +[2026-10-08 18:14:03.991] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:03.991] [path_visualizer] [debug] current_pose_x:1.9381676682303786, current_pose_y:0.009281759055338727,current_pose_yaw:-0.013806312344968319 +[2026-10-08 18:14:03.991] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:03.991] [path_visualizer] [debug] current_cmd_angular_z:-0.0028030312164181413 +[2026-10-08 18:14:04.033] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.033] [path_visualizer] [debug] current_pose_x:1.9381676682303786, current_pose_y:0.009281759055338727,current_pose_yaw:-0.013806312344968319 +[2026-10-08 18:14:04.033] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.033] [path_visualizer] [debug] current_cmd_angular_z:-0.0028030312164181413 +[2026-10-08 18:14:04.093] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.093] [path_visualizer] [debug] current_pose_x:1.9634420577076208, current_pose_y:0.00932555725357942,current_pose_yaw:-0.013902608305215837 +[2026-10-08 18:14:04.093] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.093] [path_visualizer] [debug] current_cmd_angular_z:-0.0027689347030758794 +[2026-10-08 18:14:04.134] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.134] [path_visualizer] [debug] current_pose_x:1.9634420577076208, current_pose_y:0.00932555725357942,current_pose_yaw:-0.013902608305215837 +[2026-10-08 18:14:04.134] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.134] [path_visualizer] [debug] current_cmd_angular_z:-0.0027689347030758794 +[2026-10-08 18:14:04.186] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.186] [path_visualizer] [debug] current_pose_x:1.9634420577076208, current_pose_y:0.00932555725357942,current_pose_yaw:-0.013902608305215837 +[2026-10-08 18:14:04.186] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.186] [path_visualizer] [debug] current_cmd_angular_z:-0.0027689347030758794 +[2026-10-08 18:14:04.233] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.233] [path_visualizer] [debug] current_pose_x:1.988720121246363, current_pose_y:0.00935893534834814,current_pose_yaw:-0.01400198508054018 +[2026-10-08 18:14:04.233] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.233] [path_visualizer] [debug] current_cmd_angular_z:-0.0027034563040721875 +[2026-10-08 18:14:04.287] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.288] [path_visualizer] [debug] current_pose_x:1.988720121246363, current_pose_y:0.00935893534834814,current_pose_yaw:-0.01400198508054018 +[2026-10-08 18:14:04.288] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.288] [path_visualizer] [debug] current_cmd_angular_z:-0.0027034563040721875 +[2026-10-08 18:14:04.340] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.340] [path_visualizer] [debug] current_pose_x:2.013997933622828, current_pose_y:0.009394467908207419,current_pose_yaw:-0.014097490347921847 +[2026-10-08 18:14:04.340] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.340] [path_visualizer] [debug] current_cmd_angular_z:-0.0026493813983498836 +[2026-10-08 18:14:04.382] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.382] [path_visualizer] [debug] current_pose_x:2.013997933622828, current_pose_y:0.009394467908207419,current_pose_yaw:-0.014097490347921847 +[2026-10-08 18:14:04.382] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.382] [path_visualizer] [debug] current_cmd_angular_z:-0.0026493813983498836 +[2026-10-08 18:14:04.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.438] [path_visualizer] [debug] current_pose_x:2.013997933622828, current_pose_y:0.009394467908207419,current_pose_yaw:-0.014097490347921847 +[2026-10-08 18:14:04.438] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.438] [path_visualizer] [debug] current_cmd_angular_z:-0.0026493813983498836 +[2026-10-08 18:14:04.483] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.483] [path_visualizer] [debug] current_pose_x:2.039275760268114, current_pose_y:0.009427788865602221,current_pose_yaw:-0.014192940667271612 +[2026-10-08 18:14:04.483] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.483] [path_visualizer] [debug] current_cmd_angular_z:-0.002589584492024531 +[2026-10-08 18:14:04.536] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.536] [path_visualizer] [debug] current_pose_x:2.039275760268114, current_pose_y:0.009427788865602221,current_pose_yaw:-0.014192940667271612 +[2026-10-08 18:14:04.536] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.536] [path_visualizer] [debug] current_cmd_angular_z:-0.002589584492024531 +[2026-10-08 18:14:04.585] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.585] [path_visualizer] [debug] current_pose_x:2.064553652924384, current_pose_y:0.009463125152749819,current_pose_yaw:-0.014284518547356127 +[2026-10-08 18:14:04.585] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.585] [path_visualizer] [debug] current_cmd_angular_z:-0.002540974458007224 +[2026-10-08 18:14:04.639] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.639] [path_visualizer] [debug] current_pose_x:2.064553652924384, current_pose_y:0.009463125152749819,current_pose_yaw:-0.014284518547356127 +[2026-10-08 18:14:04.639] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.639] [path_visualizer] [debug] current_cmd_angular_z:-0.002540974458007224 +[2026-10-08 18:14:04.685] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.685] [path_visualizer] [debug] current_pose_x:2.064553652924384, current_pose_y:0.009463125152749819,current_pose_yaw:-0.014284518547356127 +[2026-10-08 18:14:04.685] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.685] [path_visualizer] [debug] current_cmd_angular_z:-0.002540974458007224 +[2026-10-08 18:14:04.737] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.737] [path_visualizer] [debug] current_pose_x:2.0898316748235617, current_pose_y:0.00949731123578431,current_pose_yaw:-0.014375086873769758 +[2026-10-08 18:14:04.737] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.737] [path_visualizer] [debug] current_cmd_angular_z:-0.0024909511919376515 +[2026-10-08 18:14:04.786] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.787] [path_visualizer] [debug] current_pose_x:2.0898316748235617, current_pose_y:0.00949731123578431,current_pose_yaw:-0.014375086873769758 +[2026-10-08 18:14:04.787] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.787] [path_visualizer] [debug] current_cmd_angular_z:-0.0024909511919376515 +[2026-10-08 18:14:04.833] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.833] [path_visualizer] [debug] current_pose_x:2.0898316748235617, current_pose_y:0.00949731123578431,current_pose_yaw:-0.014375086873769758 +[2026-10-08 18:14:04.833] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.833] [path_visualizer] [debug] current_cmd_angular_z:-0.0024909511919376515 +[2026-10-08 18:14:04.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.889] [path_visualizer] [debug] current_pose_x:2.1151098279201874, current_pose_y:0.00953254662182557,current_pose_yaw:-0.014462730847299099 +[2026-10-08 18:14:04.889] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.889] [path_visualizer] [debug] current_cmd_angular_z:-0.002448060316132067 +[2026-10-08 18:14:04.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.938] [path_visualizer] [debug] current_pose_x:2.1151098279201874, current_pose_y:0.00953254662182557,current_pose_yaw:-0.014462730847299099 +[2026-10-08 18:14:04.938] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.939] [path_visualizer] [debug] current_cmd_angular_z:-0.002448060316132067 +[2026-10-08 18:14:04.991] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:04.991] [path_visualizer] [debug] current_pose_x:2.140388132577702, current_pose_y:0.009565644306975998,current_pose_yaw:-0.014550318941473963 +[2026-10-08 18:14:04.991] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:04.991] [path_visualizer] [debug] current_cmd_angular_z:-0.002399776704681108 +[2026-10-08 18:14:05.037] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.037] [path_visualizer] [debug] current_pose_x:2.140388132577702, current_pose_y:0.009565644306975998,current_pose_yaw:-0.014550318941473963 +[2026-10-08 18:14:05.037] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.037] [path_visualizer] [debug] current_cmd_angular_z:-0.002399776704681108 +[2026-10-08 18:14:05.089] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.089] [path_visualizer] [debug] current_pose_x:2.140388132577702, current_pose_y:0.009565644306975998,current_pose_yaw:-0.014550318941473963 +[2026-10-08 18:14:05.089] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.089] [path_visualizer] [debug] current_cmd_angular_z:-0.002399776704681108 +[2026-10-08 18:14:05.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.138] [path_visualizer] [debug] current_pose_x:2.1656665883183948, current_pose_y:0.009596602280710572,current_pose_yaw:-0.014637848362326624 +[2026-10-08 18:14:05.138] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.138] [path_visualizer] [debug] current_cmd_angular_z:-0.002346099451344792 +[2026-10-08 18:14:05.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.189] [path_visualizer] [debug] current_pose_x:2.1656665883183948, current_pose_y:0.009596602280710572,current_pose_yaw:-0.014637848362326624 +[2026-10-08 18:14:05.189] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.189] [path_visualizer] [debug] current_cmd_angular_z:-0.002346099451344792 +[2026-10-08 18:14:05.237] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.237] [path_visualizer] [debug] current_pose_x:2.190945163437319, current_pose_y:0.00962972801008564,current_pose_yaw:-0.014721498824656011 +[2026-10-08 18:14:05.237] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.237] [path_visualizer] [debug] current_cmd_angular_z:-0.00230387106841963 +[2026-10-08 18:14:05.288] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.288] [path_visualizer] [debug] current_pose_x:2.190945163437319, current_pose_y:0.00962972801008564,current_pose_yaw:-0.014721498824656011 +[2026-10-08 18:14:05.288] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.288] [path_visualizer] [debug] current_cmd_angular_z:-0.00230387106841963 +[2026-10-08 18:14:05.341] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.341] [path_visualizer] [debug] current_pose_x:2.190945163437319, current_pose_y:0.00962972801008564,current_pose_yaw:-0.014721498824656011 +[2026-10-08 18:14:05.341] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.341] [path_visualizer] [debug] current_cmd_angular_z:-0.00230387106841963 +[2026-10-08 18:14:05.389] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.389] [path_visualizer] [debug] current_pose_x:2.2162238898526283, current_pose_y:0.009660829159239926,current_pose_yaw:-0.014805086888372898 +[2026-10-08 18:14:05.389] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.389] [path_visualizer] [debug] current_cmd_angular_z:-0.0022565497165716597 +[2026-10-08 18:14:05.439] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.439] [path_visualizer] [debug] current_pose_x:2.2162238898526283, current_pose_y:0.009660829159239926,current_pose_yaw:-0.014805086888372898 +[2026-10-08 18:14:05.439] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.439] [path_visualizer] [debug] current_cmd_angular_z:-0.0022565497165716597 +[2026-10-08 18:14:05.487] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.487] [path_visualizer] [debug] current_pose_x:2.2415027281183133, current_pose_y:0.009694202862909406,current_pose_yaw:-0.014884792268276215 +[2026-10-08 18:14:05.487] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.487] [path_visualizer] [debug] current_cmd_angular_z:-0.002220812948215755 +[2026-10-08 18:14:05.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.537] [path_visualizer] [debug] current_pose_x:2.2415027281183133, current_pose_y:0.009694202862909406,current_pose_yaw:-0.014884792268276215 +[2026-10-08 18:14:05.537] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.537] [path_visualizer] [debug] current_cmd_angular_z:-0.002220812948215755 +[2026-10-08 18:14:05.589] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.589] [path_visualizer] [debug] current_pose_x:2.2415027281183133, current_pose_y:0.009694202862909406,current_pose_yaw:-0.014884792268276215 +[2026-10-08 18:14:05.589] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.589] [path_visualizer] [debug] current_cmd_angular_z:-0.002220812948215755 +[2026-10-08 18:14:05.637] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.638] [path_visualizer] [debug] current_pose_x:2.266781712872708, current_pose_y:0.009725656611587002,current_pose_yaw:-0.014964433386921881 +[2026-10-08 18:14:05.638] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.638] [path_visualizer] [debug] current_cmd_angular_z:-0.002180392617387363 +[2026-10-08 18:14:05.687] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.687] [path_visualizer] [debug] current_pose_x:2.266781712872708, current_pose_y:0.009725656611587002,current_pose_yaw:-0.014964433386921881 +[2026-10-08 18:14:05.687] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.687] [path_visualizer] [debug] current_cmd_angular_z:-0.002180392617387363 +[2026-10-08 18:14:05.739] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.739] [path_visualizer] [debug] current_pose_x:2.266781712872708, current_pose_y:0.009725656611587002,current_pose_yaw:-0.014964433386921881 +[2026-10-08 18:14:05.739] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.739] [path_visualizer] [debug] current_cmd_angular_z:-0.002180392617387363 +[2026-10-08 18:14:05.787] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.787] [path_visualizer] [debug] current_pose_x:2.292060831353866, current_pose_y:0.009755175583367633,current_pose_yaw:-0.015044009312987326 +[2026-10-08 18:14:05.787] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.787] [path_visualizer] [debug] current_cmd_angular_z:-0.0021351136752667463 +[2026-10-08 18:14:05.834] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.834] [path_visualizer] [debug] current_pose_x:2.292060831353866, current_pose_y:0.009755175583367633,current_pose_yaw:-0.015044009312987326 +[2026-10-08 18:14:05.834] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.834] [path_visualizer] [debug] current_cmd_angular_z:-0.0021351136752667463 +[2026-10-08 18:14:05.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.889] [path_visualizer] [debug] current_pose_x:2.317340057677195, current_pose_y:0.009787069486740813,current_pose_yaw:-0.015119700692594051 +[2026-10-08 18:14:05.889] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.889] [path_visualizer] [debug] current_cmd_angular_z:-0.002101822962423429 +[2026-10-08 18:14:05.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.938] [path_visualizer] [debug] current_pose_x:2.317340057677195, current_pose_y:0.009787069486740813,current_pose_yaw:-0.015119700692594051 +[2026-10-08 18:14:05.938] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.938] [path_visualizer] [debug] current_cmd_angular_z:-0.002101822962423429 +[2026-10-08 18:14:05.985] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:05.985] [path_visualizer] [debug] current_pose_x:2.317340057677195, current_pose_y:0.009787069486740813,current_pose_yaw:-0.015119700692594051 +[2026-10-08 18:14:05.985] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:05.985] [path_visualizer] [debug] current_cmd_angular_z:-0.002101822962423429 +[2026-10-08 18:14:06.036] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.036] [path_visualizer] [debug] current_pose_x:2.342619422005959, current_pose_y:0.00981714742168326,current_pose_yaw:-0.01519532222300768 +[2026-10-08 18:14:06.036] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.036] [path_visualizer] [debug] current_cmd_angular_z:-0.002063985149069549 +[2026-10-08 18:14:06.086] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.086] [path_visualizer] [debug] current_pose_x:2.342619422005959, current_pose_y:0.00981714742168326,current_pose_yaw:-0.01519532222300768 +[2026-10-08 18:14:06.086] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.086] [path_visualizer] [debug] current_cmd_angular_z:-0.002063985149069549 +[2026-10-08 18:14:06.133] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.133] [path_visualizer] [debug] current_pose_x:2.36790102323397, current_pose_y:0.009847559766708654,current_pose_yaw:-0.015268967486917973 +[2026-10-08 18:14:06.133] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.133] [path_visualizer] [debug] current_cmd_angular_z:-0.002030007233754235 +[2026-10-08 18:14:06.186] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.186] [path_visualizer] [debug] current_pose_x:2.36790102323397, current_pose_y:0.009847559766708654,current_pose_yaw:-0.015268967486917973 +[2026-10-08 18:14:06.186] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.186] [path_visualizer] [debug] current_cmd_angular_z:-0.002030007233754235 +[2026-10-08 18:14:06.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.238] [path_visualizer] [debug] current_pose_x:2.36790102323397, current_pose_y:0.009847559766708654,current_pose_yaw:-0.015268967486917973 +[2026-10-08 18:14:06.238] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.238] [path_visualizer] [debug] current_cmd_angular_z:-0.002030007233754235 +[2026-10-08 18:14:06.283] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.283] [path_visualizer] [debug] current_pose_x:2.393180629440635, current_pose_y:0.009878347505293223,current_pose_yaw:-0.01534063182771206 +[2026-10-08 18:14:06.283] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.283] [path_visualizer] [debug] current_cmd_angular_z:-0.0020000013084502284 +[2026-10-08 18:14:06.337] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.337] [path_visualizer] [debug] current_pose_x:2.393180629440635, current_pose_y:0.009878347505293223,current_pose_yaw:-0.01534063182771206 +[2026-10-08 18:14:06.337] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.337] [path_visualizer] [debug] current_cmd_angular_z:-0.0020000013084502284 +[2026-10-08 18:14:06.390] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.390] [path_visualizer] [debug] current_pose_x:2.393180629440635, current_pose_y:0.009878347505293223,current_pose_yaw:-0.01534063182771206 +[2026-10-08 18:14:06.390] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.390] [path_visualizer] [debug] current_cmd_angular_z:-0.0020000013084502284 +[2026-10-08 18:14:06.433] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.433] [path_visualizer] [debug] current_pose_x:2.41846034034733, current_pose_y:0.00990741400831002,current_pose_yaw:-0.015412224456667898 +[2026-10-08 18:14:06.433] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.433] [path_visualizer] [debug] current_cmd_angular_z:-0.0019656938565439028 +[2026-10-08 18:14:06.494] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.494] [path_visualizer] [debug] current_pose_x:2.41846034034733, current_pose_y:0.00990741400831002,current_pose_yaw:-0.015412224456667898 +[2026-10-08 18:14:06.494] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.494] [path_visualizer] [debug] current_cmd_angular_z:-0.0019656938565439028 +[2026-10-08 18:14:06.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.538] [path_visualizer] [debug] current_pose_x:2.443740170402789, current_pose_y:0.009934756941611743,current_pose_yaw:-0.015483746305108069 +[2026-10-08 18:14:06.538] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.538] [path_visualizer] [debug] current_cmd_angular_z:-0.0019269389975009737 +[2026-10-08 18:14:06.585] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.585] [path_visualizer] [debug] current_pose_x:2.443740170402789, current_pose_y:0.009934756941611743,current_pose_yaw:-0.015483746305108069 +[2026-10-08 18:14:06.585] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.585] [path_visualizer] [debug] current_cmd_angular_z:-0.0019269389975009737 +[2026-10-08 18:14:06.633] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.633] [path_visualizer] [debug] current_pose_x:2.443740170402789, current_pose_y:0.009934756941611743,current_pose_yaw:-0.015483746305108069 +[2026-10-08 18:14:06.633] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.633] [path_visualizer] [debug] current_cmd_angular_z:-0.0019269389975009737 +[2026-10-08 18:14:06.689] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.689] [path_visualizer] [debug] current_pose_x:2.4690201007349337, current_pose_y:0.0099635954404921,current_pose_yaw:-0.015552330762147902 +[2026-10-08 18:14:06.689] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.689] [path_visualizer] [debug] current_cmd_angular_z:-0.001896618329062235 +[2026-10-08 18:14:06.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.739] [path_visualizer] [debug] current_pose_x:2.4690201007349337, current_pose_y:0.0099635954404921,current_pose_yaw:-0.015552330762147902 +[2026-10-08 18:14:06.739] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.739] [path_visualizer] [debug] current_cmd_angular_z:-0.001896618329062235 +[2026-10-08 18:14:06.785] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.785] [path_visualizer] [debug] current_pose_x:2.4943001389809374, current_pose_y:0.009991892208788567,current_pose_yaw:-0.015619884245097635 +[2026-10-08 18:14:06.785] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.785] [path_visualizer] [debug] current_cmd_angular_z:-0.0018664761306377078 +[2026-10-08 18:14:06.840] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.840] [path_visualizer] [debug] current_pose_x:2.4943001389809374, current_pose_y:0.009991892208788567,current_pose_yaw:-0.015619884245097635 +[2026-10-08 18:14:06.840] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.841] [path_visualizer] [debug] current_cmd_angular_z:-0.0018664761306377078 +[2026-10-08 18:14:06.888] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.888] [path_visualizer] [debug] current_pose_x:2.4943001389809374, current_pose_y:0.009991892208788567,current_pose_yaw:-0.015619884245097635 +[2026-10-08 18:14:06.889] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.889] [path_visualizer] [debug] current_cmd_angular_z:-0.0018664761306377078 +[2026-10-08 18:14:06.932] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.932] [path_visualizer] [debug] current_pose_x:2.519580281163178, current_pose_y:0.010019631310572782,current_pose_yaw:-0.015686411410570145 +[2026-10-08 18:14:06.932] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.932] [path_visualizer] [debug] current_cmd_angular_z:-0.0018364644921088254 +[2026-10-08 18:14:06.987] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:06.987] [path_visualizer] [debug] current_pose_x:2.519580281163178, current_pose_y:0.010019631310572782,current_pose_yaw:-0.015686411410570145 +[2026-10-08 18:14:06.987] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:06.988] [path_visualizer] [debug] current_cmd_angular_z:-0.0018364644921088254 +[2026-10-08 18:14:07.039] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.039] [path_visualizer] [debug] current_pose_x:2.519580281163178, current_pose_y:0.010019631310572782,current_pose_yaw:-0.015686411410570145 +[2026-10-08 18:14:07.039] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.039] [path_visualizer] [debug] current_cmd_angular_z:-0.0018364644921088254 +[2026-10-08 18:14:07.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.087] [path_visualizer] [debug] current_pose_x:2.544860516512747, current_pose_y:0.010049038674804535,current_pose_yaw:-0.01574999280273914 +[2026-10-08 18:14:07.087] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.087] [path_visualizer] [debug] current_cmd_angular_z:-0.0018152038150175236 +[2026-10-08 18:14:07.132] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.132] [path_visualizer] [debug] current_pose_x:2.544860516512747, current_pose_y:0.010049038674804535,current_pose_yaw:-0.01574999280273914 +[2026-10-08 18:14:07.133] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.133] [path_visualizer] [debug] current_cmd_angular_z:-0.0018152038150175236 +[2026-10-08 18:14:07.188] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.188] [path_visualizer] [debug] current_pose_x:2.570140856442947, current_pose_y:0.010076935329659188,current_pose_yaw:-0.015813497826457024 +[2026-10-08 18:14:07.188] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.188] [path_visualizer] [debug] current_cmd_angular_z:-0.0017901881396669012 +[2026-10-08 18:14:07.236] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.236] [path_visualizer] [debug] current_pose_x:2.570140856442947, current_pose_y:0.010076935329659188,current_pose_yaw:-0.015813497826457024 +[2026-10-08 18:14:07.236] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.236] [path_visualizer] [debug] current_cmd_angular_z:-0.0017901881396669012 +[2026-10-08 18:14:07.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.289] [path_visualizer] [debug] current_pose_x:2.570140856442947, current_pose_y:0.010076935329659188,current_pose_yaw:-0.015813497826457024 +[2026-10-08 18:14:07.289] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.289] [path_visualizer] [debug] current_cmd_angular_z:-0.0017901881396669012 +[2026-10-08 18:14:07.336] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.336] [path_visualizer] [debug] current_pose_x:2.5954212936904257, current_pose_y:0.010103318568630218,current_pose_yaw:-0.015876926481723782 +[2026-10-08 18:14:07.336] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.336] [path_visualizer] [debug] current_cmd_angular_z:-0.0017614105309027607 +[2026-10-08 18:14:07.383] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.383] [path_visualizer] [debug] current_pose_x:2.5954212936904257, current_pose_y:0.010103318568630218,current_pose_yaw:-0.015876926481723782 +[2026-10-08 18:14:07.383] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.383] [path_visualizer] [debug] current_cmd_angular_z:-0.0017614105309027607 +[2026-10-08 18:14:07.439] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.439] [path_visualizer] [debug] current_pose_x:2.6207018216254863, current_pose_y:0.010128186344188557,current_pose_yaw:-0.01594027690589428 +[2026-10-08 18:14:07.439] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.439] [path_visualizer] [debug] current_cmd_angular_z:-0.0017287300881523061 +[2026-10-08 18:14:07.483] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.483] [path_visualizer] [debug] current_pose_x:2.6207018216254863, current_pose_y:0.010128186344188557,current_pose_yaw:-0.01594027690589428 +[2026-10-08 18:14:07.483] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.483] [path_visualizer] [debug] current_cmd_angular_z:-0.0017287300881523061 +[2026-10-08 18:14:07.535] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.535] [path_visualizer] [debug] current_pose_x:2.6207018216254863, current_pose_y:0.010128186344188557,current_pose_yaw:-0.01594027690589428 +[2026-10-08 18:14:07.535] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.535] [path_visualizer] [debug] current_cmd_angular_z:-0.0017287300881523061 +[2026-10-08 18:14:07.583] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.583] [path_visualizer] [debug] current_pose_x:2.645984557256401, current_pose_y:0.010153707345184995,current_pose_yaw:-0.0160016380250454 +[2026-10-08 18:14:07.583] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.583] [path_visualizer] [debug] current_cmd_angular_z:-0.0017008847729432335 +[2026-10-08 18:14:07.636] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.636] [path_visualizer] [debug] current_pose_x:2.645984557256401, current_pose_y:0.010153707345184995,current_pose_yaw:-0.0160016380250454 +[2026-10-08 18:14:07.636] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.636] [path_visualizer] [debug] current_cmd_angular_z:-0.0017008847729432335 +[2026-10-08 18:14:07.690] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.690] [path_visualizer] [debug] current_pose_x:2.6712652710511233, current_pose_y:0.010179925789155567,current_pose_yaw:-0.016061007976531982 +[2026-10-08 18:14:07.690] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.690] [path_visualizer] [debug] current_cmd_angular_z:-0.0016778522343380078 +[2026-10-08 18:14:07.733] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.733] [path_visualizer] [debug] current_pose_x:2.6712652710511233, current_pose_y:0.010179925789155567,current_pose_yaw:-0.016061007976531982 +[2026-10-08 18:14:07.733] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.733] [path_visualizer] [debug] current_cmd_angular_z:-0.0016778522343380078 +[2026-10-08 18:14:07.790] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.790] [path_visualizer] [debug] current_pose_x:2.6712652710511233, current_pose_y:0.010179925789155567,current_pose_yaw:-0.016061007976531982 +[2026-10-08 18:14:07.790] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.790] [path_visualizer] [debug] current_cmd_angular_z:-0.0016778522343380078 +[2026-10-08 18:14:07.833] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.833] [path_visualizer] [debug] current_pose_x:2.6965460493156925, current_pose_y:0.010204745512199263,current_pose_yaw:-0.016120295971632004 +[2026-10-08 18:14:07.833] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.833] [path_visualizer] [debug] current_cmd_angular_z:-0.0016513601478182344 +[2026-10-08 18:14:07.890] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.890] [path_visualizer] [debug] current_pose_x:2.6965460493156925, current_pose_y:0.010204745512199263,current_pose_yaw:-0.016120295971632004 +[2026-10-08 18:14:07.890] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.890] [path_visualizer] [debug] current_cmd_angular_z:-0.0016513601478182344 +[2026-10-08 18:14:07.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.938] [path_visualizer] [debug] current_pose_x:2.6965460493156925, current_pose_y:0.010204745512199263,current_pose_yaw:-0.016120295971632004 +[2026-10-08 18:14:07.938] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.938] [path_visualizer] [debug] current_cmd_angular_z:-0.0016513601478182344 +[2026-10-08 18:14:07.988] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:07.989] [path_visualizer] [debug] current_pose_x:2.7218269132943513, current_pose_y:0.010228160512924894,current_pose_yaw:-0.016179502010345462 +[2026-10-08 18:14:07.989] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:07.989] [path_visualizer] [debug] current_cmd_angular_z:-0.0016213931354149246 +[2026-10-08 18:14:08.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.038] [path_visualizer] [debug] current_pose_x:2.7218269132943513, current_pose_y:0.010228160512924894,current_pose_yaw:-0.016179502010345462 +[2026-10-08 18:14:08.038] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.038] [path_visualizer] [debug] current_cmd_angular_z:-0.0016213931354149246 +[2026-10-08 18:14:08.089] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.090] [path_visualizer] [debug] current_pose_x:2.7471078573128236, current_pose_y:0.010250175572497631,current_pose_yaw:-0.016238627955317497 +[2026-10-08 18:14:08.090] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.090] [path_visualizer] [debug] current_cmd_angular_z:-0.0015879606180352612 +[2026-10-08 18:14:08.137] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.137] [path_visualizer] [debug] current_pose_x:2.7471078573128236, current_pose_y:0.010250175572497631,current_pose_yaw:-0.016238627955317497 +[2026-10-08 18:14:08.138] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.138] [path_visualizer] [debug] current_cmd_angular_z:-0.0015879606180352612 +[2026-10-08 18:14:08.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.189] [path_visualizer] [debug] current_pose_x:2.7471078573128236, current_pose_y:0.010250175572497631,current_pose_yaw:-0.016238627955317497 +[2026-10-08 18:14:08.189] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.189] [path_visualizer] [debug] current_cmd_angular_z:-0.0015879606180352612 +[2026-10-08 18:14:08.244] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.244] [path_visualizer] [debug] current_pose_x:2.7723888701621195, current_pose_y:0.010274009603727137,current_pose_yaw:-0.016294805333018303 +[2026-10-08 18:14:08.244] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.244] [path_visualizer] [debug] current_cmd_angular_z:-0.0015636694850072012 +[2026-10-08 18:14:08.288] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.288] [path_visualizer] [debug] current_pose_x:2.7723888701621195, current_pose_y:0.010274009603727137,current_pose_yaw:-0.016294805333018303 +[2026-10-08 18:14:08.288] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.288] [path_visualizer] [debug] current_cmd_angular_z:-0.0015636694850072012 +[2026-10-08 18:14:08.336] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.336] [path_visualizer] [debug] current_pose_x:2.797669951416589, current_pose_y:0.010297623648820298,current_pose_yaw:-0.01634994149208069 +[2026-10-08 18:14:08.336] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.336] [path_visualizer] [debug] current_cmd_angular_z:-0.0015403968271371603 +[2026-10-08 18:14:08.387] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.387] [path_visualizer] [debug] current_pose_x:2.797669951416589, current_pose_y:0.010297623648820298,current_pose_yaw:-0.01634994149208069 +[2026-10-08 18:14:08.387] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.387] [path_visualizer] [debug] current_cmd_angular_z:-0.0015403968271371603 +[2026-10-08 18:14:08.435] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.435] [path_visualizer] [debug] current_pose_x:2.797669951416589, current_pose_y:0.010297623648820298,current_pose_yaw:-0.01634994149208069 +[2026-10-08 18:14:08.435] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.435] [path_visualizer] [debug] current_cmd_angular_z:-0.0015403968271371603 +[2026-10-08 18:14:08.488] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.488] [path_visualizer] [debug] current_pose_x:2.8229511051050427, current_pose_y:0.01031994443068538,current_pose_yaw:-0.016404995694756508 +[2026-10-08 18:14:08.488] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.488] [path_visualizer] [debug] current_cmd_angular_z:-0.0015137963618971594 +[2026-10-08 18:14:08.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.538] [path_visualizer] [debug] current_pose_x:2.8229511051050427, current_pose_y:0.01031994443068538,current_pose_yaw:-0.016404995694756508 +[2026-10-08 18:14:08.538] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.538] [path_visualizer] [debug] current_cmd_angular_z:-0.0015137963618971594 +[2026-10-08 18:14:08.585] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.585] [path_visualizer] [debug] current_pose_x:2.8229511051050427, current_pose_y:0.01031994443068538,current_pose_yaw:-0.016404995694756508 +[2026-10-08 18:14:08.585] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.585] [path_visualizer] [debug] current_cmd_angular_z:-0.0015137963618971594 +[2026-10-08 18:14:08.634] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.634] [path_visualizer] [debug] current_pose_x:2.848232320610293, current_pose_y:0.010340971164037257,current_pose_yaw:-0.01645996421575546 +[2026-10-08 18:14:08.634] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.634] [path_visualizer] [debug] current_cmd_angular_z:-0.0014841487064530673 +[2026-10-08 18:14:08.691] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.691] [path_visualizer] [debug] current_pose_x:2.848232320610293, current_pose_y:0.010340971164037257,current_pose_yaw:-0.01645996421575546 +[2026-10-08 18:14:08.691] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.691] [path_visualizer] [debug] current_cmd_angular_z:-0.0014841487064530673 +[2026-10-08 18:14:08.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.738] [path_visualizer] [debug] current_pose_x:2.8735135944033567, current_pose_y:0.010365015840764887,current_pose_yaw:-0.01651102676987648 +[2026-10-08 18:14:08.738] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.738] [path_visualizer] [debug] current_cmd_angular_z:-0.0014681694831989514 +[2026-10-08 18:14:08.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.789] [path_visualizer] [debug] current_pose_x:2.8735135944033567, current_pose_y:0.010365015840764887,current_pose_yaw:-0.01651102676987648 +[2026-10-08 18:14:08.789] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.790] [path_visualizer] [debug] current_cmd_angular_z:-0.0014681694831989514 +[2026-10-08 18:14:08.838] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.838] [path_visualizer] [debug] current_pose_x:2.8735135944033567, current_pose_y:0.010365015840764887,current_pose_yaw:-0.01651102676987648 +[2026-10-08 18:14:08.838] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.838] [path_visualizer] [debug] current_cmd_angular_z:-0.0014681694831989514 +[2026-10-08 18:14:08.883] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.883] [path_visualizer] [debug] current_pose_x:2.8987949266288005, current_pose_y:0.010387885098837498,current_pose_yaw:-0.016562003642320633 +[2026-10-08 18:14:08.883] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.883] [path_visualizer] [debug] current_cmd_angular_z:-0.0014493085626357816 +[2026-10-08 18:14:08.936] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.936] [path_visualizer] [debug] current_pose_x:2.8987949266288005, current_pose_y:0.010387885098837498,current_pose_yaw:-0.016562003642320633 +[2026-10-08 18:14:08.936] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.936] [path_visualizer] [debug] current_cmd_angular_z:-0.0014493085626357816 +[2026-10-08 18:14:08.990] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:08.990] [path_visualizer] [debug] current_pose_x:2.9240783840804303, current_pose_y:0.010406041281893864,current_pose_yaw:-0.016612522304058075 +[2026-10-08 18:14:08.990] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:08.990] [path_visualizer] [debug] current_cmd_angular_z:-0.0014190671223903335 +[2026-10-08 18:14:09.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.038] [path_visualizer] [debug] current_pose_x:2.9240783840804303, current_pose_y:0.010406041281893864,current_pose_yaw:-0.016612522304058075 +[2026-10-08 18:14:09.038] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.038] [path_visualizer] [debug] current_cmd_angular_z:-0.0014190671223903335 +[2026-10-08 18:14:09.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.087] [path_visualizer] [debug] current_pose_x:2.9240783840804303, current_pose_y:0.010406041281893864,current_pose_yaw:-0.016612522304058075 +[2026-10-08 18:14:09.087] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.087] [path_visualizer] [debug] current_cmd_angular_z:-0.0014190671223903335 +[2026-10-08 18:14:09.139] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.139] [path_visualizer] [debug] current_pose_x:2.94936526856615, current_pose_y:0.010418448938793992,current_pose_yaw:-0.016661956906318665 +[2026-10-08 18:14:09.139] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.139] [path_visualizer] [debug] current_cmd_angular_z:-0.0013757429206212 +[2026-10-08 18:14:09.187] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.187] [path_visualizer] [debug] current_pose_x:2.94936526856615, current_pose_y:0.010418448938793992,current_pose_yaw:-0.016661956906318665 +[2026-10-08 18:14:09.187] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.187] [path_visualizer] [debug] current_cmd_angular_z:-0.0013757429206212 +[2026-10-08 18:14:09.236] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.236] [path_visualizer] [debug] current_pose_x:2.94936526856615, current_pose_y:0.010418448938793992,current_pose_yaw:-0.016661956906318665 +[2026-10-08 18:14:09.236] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.236] [path_visualizer] [debug] current_cmd_angular_z:-0.0013757429206212 +[2026-10-08 18:14:09.285] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.285] [path_visualizer] [debug] current_pose_x:2.9746565390380497, current_pose_y:0.010426145247366625,current_pose_yaw:-0.01670937053859234 +[2026-10-08 18:14:09.285] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.285] [path_visualizer] [debug] current_cmd_angular_z:-0.0013234172904969844 +[2026-10-08 18:14:09.337] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.337] [path_visualizer] [debug] current_pose_x:2.9746565390380497, current_pose_y:0.010426145247366625,current_pose_yaw:-0.01670937053859234 +[2026-10-08 18:14:09.337] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.337] [path_visualizer] [debug] current_cmd_angular_z:-0.0013234172904969844 +[2026-10-08 18:14:09.389] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.389] [path_visualizer] [debug] current_pose_x:2.9999453277010515, current_pose_y:0.010435379893683594,current_pose_yaw:-0.016754871234297752 +[2026-10-08 18:14:09.389] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.389] [path_visualizer] [debug] current_cmd_angular_z:-0.0012779402714641827 +[2026-10-08 18:14:09.436] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.436] [path_visualizer] [debug] current_pose_x:2.9999453277010515, current_pose_y:0.010435379893683594,current_pose_yaw:-0.016754871234297752 +[2026-10-08 18:14:09.436] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.436] [path_visualizer] [debug] current_cmd_angular_z:-0.0012779402714641827 +[2026-10-08 18:14:09.490] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.490] [path_visualizer] [debug] current_pose_x:2.9999453277010515, current_pose_y:0.010435379893683594,current_pose_yaw:-0.016754871234297752 +[2026-10-08 18:14:09.490] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.490] [path_visualizer] [debug] current_cmd_angular_z:-0.0012779402714641827 +[2026-10-08 18:14:09.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.538] [path_visualizer] [debug] current_pose_x:3.0252339597187365, current_pose_y:0.010443710469056297,current_pose_yaw:-0.016800370067358017 +[2026-10-08 18:14:09.538] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.538] [path_visualizer] [debug] current_cmd_angular_z:-0.0012300110064276427 +[2026-10-08 18:14:09.589] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.589] [path_visualizer] [debug] current_pose_x:3.0252339597187365, current_pose_y:0.010443710469056297,current_pose_yaw:-0.016800370067358017 +[2026-10-08 18:14:09.589] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.589] [path_visualizer] [debug] current_cmd_angular_z:-0.0012300110064276427 +[2026-10-08 18:14:09.633] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.633] [path_visualizer] [debug] current_pose_x:3.050522524496291, current_pose_y:0.010455306147727514,current_pose_yaw:-0.01684204675257206 +[2026-10-08 18:14:09.633] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.633] [path_visualizer] [debug] current_cmd_angular_z:-0.0011963946147548823 +[2026-10-08 18:14:09.687] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.687] [path_visualizer] [debug] current_pose_x:3.050522524496291, current_pose_y:0.010455306147727514,current_pose_yaw:-0.01684204675257206 +[2026-10-08 18:14:09.687] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.687] [path_visualizer] [debug] current_cmd_angular_z:-0.0011963946147548823 +[2026-10-08 18:14:09.735] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.735] [path_visualizer] [debug] current_pose_x:3.050522524496291, current_pose_y:0.010455306147727514,current_pose_yaw:-0.01684204675257206 +[2026-10-08 18:14:09.735] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.735] [path_visualizer] [debug] current_cmd_angular_z:-0.0011963946147548823 +[2026-10-08 18:14:09.784] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.784] [path_visualizer] [debug] current_pose_x:3.0758115813281277, current_pose_y:0.010466435626797594,current_pose_yaw:-0.016883246600627896 +[2026-10-08 18:14:09.784] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.784] [path_visualizer] [debug] current_cmd_angular_z:-0.0011623082034766773 +[2026-10-08 18:14:09.836] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.836] [path_visualizer] [debug] current_pose_x:3.0758115813281277, current_pose_y:0.010466435626797594,current_pose_yaw:-0.016883246600627896 +[2026-10-08 18:14:09.836] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.836] [path_visualizer] [debug] current_cmd_angular_z:-0.0011623082034766773 +[2026-10-08 18:14:09.886] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.886] [path_visualizer] [debug] current_pose_x:3.0758115813281277, current_pose_y:0.010466435626797594,current_pose_yaw:-0.016883246600627896 +[2026-10-08 18:14:09.886] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.886] [path_visualizer] [debug] current_cmd_angular_z:-0.0011623082034766773 +[2026-10-08 18:14:09.937] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.938] [path_visualizer] [debug] current_pose_x:3.1011022492532256, current_pose_y:0.010478179453321634,current_pose_yaw:-0.01692301221191883 +[2026-10-08 18:14:09.938] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.938] [path_visualizer] [debug] current_cmd_angular_z:-0.0011319753689896725 +[2026-10-08 18:14:09.986] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:09.986] [path_visualizer] [debug] current_pose_x:3.1011022492532256, current_pose_y:0.010478179453321634,current_pose_yaw:-0.01692301221191883 +[2026-10-08 18:14:09.986] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:09.986] [path_visualizer] [debug] current_cmd_angular_z:-0.0011319753689896725 +[2026-10-08 18:14:10.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.038] [path_visualizer] [debug] current_pose_x:3.1263965129002242, current_pose_y:0.010493615249727969,current_pose_yaw:-0.016961960121989254 +[2026-10-08 18:14:10.038] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.038] [path_visualizer] [debug] current_cmd_angular_z:-0.0011123453660441922 +[2026-10-08 18:14:10.084] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.084] [path_visualizer] [debug] current_pose_x:3.1263965129002242, current_pose_y:0.010493615249727969,current_pose_yaw:-0.016961960121989254 +[2026-10-08 18:14:10.084] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.084] [path_visualizer] [debug] current_cmd_angular_z:-0.0011123453660441922 +[2026-10-08 18:14:10.133] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.133] [path_visualizer] [debug] current_pose_x:3.1263965129002242, current_pose_y:0.010493615249727969,current_pose_yaw:-0.016961960121989254 +[2026-10-08 18:14:10.133] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.133] [path_visualizer] [debug] current_cmd_angular_z:-0.0011123453660441922 +[2026-10-08 18:14:10.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.189] [path_visualizer] [debug] current_pose_x:3.1517054751273745, current_pose_y:0.010506170972983609,current_pose_yaw:-0.017000490799546242 +[2026-10-08 18:14:10.189] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.189] [path_visualizer] [debug] current_cmd_angular_z:-0.0010859694608966013 +[2026-10-08 18:14:10.232] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.232] [path_visualizer] [debug] current_pose_x:3.1517054751273745, current_pose_y:0.010506170972983609,current_pose_yaw:-0.017000490799546242 +[2026-10-08 18:14:10.232] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.232] [path_visualizer] [debug] current_cmd_angular_z:-0.0010859694608966013 +[2026-10-08 18:14:10.295] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.295] [path_visualizer] [debug] current_pose_x:3.1770165165926345, current_pose_y:0.010516580944936228,current_pose_yaw:-0.017038514837622643 +[2026-10-08 18:14:10.295] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.295] [path_visualizer] [debug] current_cmd_angular_z:-0.0010548651373473161 +[2026-10-08 18:14:10.336] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.336] [path_visualizer] [debug] current_pose_x:3.1770165165926345, current_pose_y:0.010516580944936228,current_pose_yaw:-0.017038514837622643 +[2026-10-08 18:14:10.336] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.336] [path_visualizer] [debug] current_cmd_angular_z:-0.0010548651373473161 +[2026-10-08 18:14:10.389] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.389] [path_visualizer] [debug] current_pose_x:3.1770165165926345, current_pose_y:0.010516580944936228,current_pose_yaw:-0.017038514837622643 +[2026-10-08 18:14:10.389] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.389] [path_visualizer] [debug] current_cmd_angular_z:-0.0010548651373473161 +[2026-10-08 18:14:10.439] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.439] [path_visualizer] [debug] current_pose_x:3.202326816049006, current_pose_y:0.010526245771870859,current_pose_yaw:-0.017076533287763596 +[2026-10-08 18:14:10.439] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.439] [path_visualizer] [debug] current_cmd_angular_z:-0.0010217214604067645 +[2026-10-08 18:14:10.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.484] [path_visualizer] [debug] current_pose_x:3.202326816049006, current_pose_y:0.010526245771870859,current_pose_yaw:-0.017076533287763596 +[2026-10-08 18:14:10.484] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.484] [path_visualizer] [debug] current_cmd_angular_z:-0.0010217214604067645 +[2026-10-08 18:14:10.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.538] [path_visualizer] [debug] current_pose_x:3.202326816049006, current_pose_y:0.010526245771870859,current_pose_yaw:-0.017076533287763596 +[2026-10-08 18:14:10.538] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.538] [path_visualizer] [debug] current_cmd_angular_z:-0.0010217214604067645 +[2026-10-08 18:14:10.584] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.584] [path_visualizer] [debug] current_pose_x:3.227636622364775, current_pose_y:0.01053935492591027,current_pose_yaw:-0.017110729590058327 +[2026-10-08 18:14:10.584] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.584] [path_visualizer] [debug] current_cmd_angular_z:-0.0010033499000367194 +[2026-10-08 18:14:10.640] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.640] [path_visualizer] [debug] current_pose_x:3.227636622364775, current_pose_y:0.01053935492591027,current_pose_yaw:-0.017110729590058327 +[2026-10-08 18:14:10.640] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.641] [path_visualizer] [debug] current_cmd_angular_z:-0.0010033499000367194 +[2026-10-08 18:14:10.686] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.687] [path_visualizer] [debug] current_pose_x:3.252946054804856, current_pose_y:0.010551655356793024,current_pose_yaw:-0.01714492216706276 +[2026-10-08 18:14:10.687] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.687] [path_visualizer] [debug] current_cmd_angular_z:-0.0009829117275912055 +[2026-10-08 18:14:10.734] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.734] [path_visualizer] [debug] current_pose_x:3.252946054804856, current_pose_y:0.010551655356793024,current_pose_yaw:-0.01714492216706276 +[2026-10-08 18:14:10.734] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.734] [path_visualizer] [debug] current_cmd_angular_z:-0.0009829117275912055 +[2026-10-08 18:14:10.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.789] [path_visualizer] [debug] current_pose_x:3.252946054804856, current_pose_y:0.010551655356793024,current_pose_yaw:-0.01714492216706276 +[2026-10-08 18:14:10.789] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.789] [path_visualizer] [debug] current_cmd_angular_z:-0.0009829117275912055 +[2026-10-08 18:14:10.835] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.835] [path_visualizer] [debug] current_pose_x:3.27825515812981, current_pose_y:0.010563107755126385,current_pose_yaw:-0.017179114744067192 +[2026-10-08 18:14:10.835] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.835] [path_visualizer] [debug] current_cmd_angular_z:-0.0009603005559470877 +[2026-10-08 18:14:10.883] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.883] [path_visualizer] [debug] current_pose_x:3.27825515812981, current_pose_y:0.010563107755126385,current_pose_yaw:-0.017179114744067192 +[2026-10-08 18:14:10.883] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.883] [path_visualizer] [debug] current_cmd_angular_z:-0.0009603005559470877 +[2026-10-08 18:14:10.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.938] [path_visualizer] [debug] current_pose_x:3.303563947197973, current_pose_y:0.01057370610437624,current_pose_yaw:-0.017213307321071625 +[2026-10-08 18:14:10.938] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.938] [path_visualizer] [debug] current_cmd_angular_z:-0.0009355009683331382 +[2026-10-08 18:14:10.982] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:10.982] [path_visualizer] [debug] current_pose_x:3.303563947197973, current_pose_y:0.01057370610437624,current_pose_yaw:-0.017213307321071625 +[2026-10-08 18:14:10.982] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:10.982] [path_visualizer] [debug] current_cmd_angular_z:-0.0009355009683331382 +[2026-10-08 18:14:11.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.038] [path_visualizer] [debug] current_pose_x:3.303563947197973, current_pose_y:0.01057370610437624,current_pose_yaw:-0.017213307321071625 +[2026-10-08 18:14:11.038] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.038] [path_visualizer] [debug] current_cmd_angular_z:-0.0009355009683331382 +[2026-10-08 18:14:11.090] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.090] [path_visualizer] [debug] current_pose_x:3.3288745517993, current_pose_y:0.010585607941888044,current_pose_yaw:-0.017245588824152946 +[2026-10-08 18:14:11.090] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.090] [path_visualizer] [debug] current_cmd_angular_z:-0.0009169453829785991 +[2026-10-08 18:14:11.135] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.135] [path_visualizer] [debug] current_pose_x:3.3288745517993, current_pose_y:0.010585607941888044,current_pose_yaw:-0.017245588824152946 +[2026-10-08 18:14:11.135] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.135] [path_visualizer] [debug] current_cmd_angular_z:-0.0009169453829785991 +[2026-10-08 18:14:11.187] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.187] [path_visualizer] [debug] current_pose_x:3.3288745517993, current_pose_y:0.010585607941888044,current_pose_yaw:-0.017245588824152946 +[2026-10-08 18:14:11.187] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.187] [path_visualizer] [debug] current_cmd_angular_z:-0.0009169453829785991 +[2026-10-08 18:14:11.240] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.240] [path_visualizer] [debug] current_pose_x:3.3541827416901144, current_pose_y:0.01059885750199461,current_pose_yaw:-0.017275957390666008 +[2026-10-08 18:14:11.240] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.240] [path_visualizer] [debug] current_cmd_angular_z:-0.0009047499763226753 +[2026-10-08 18:14:11.288] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.288] [path_visualizer] [debug] current_pose_x:3.3541827416901144, current_pose_y:0.01059885750199461,current_pose_yaw:-0.017275957390666008 +[2026-10-08 18:14:11.288] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.288] [path_visualizer] [debug] current_cmd_angular_z:-0.0009047499763226753 +[2026-10-08 18:14:11.338] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.338] [path_visualizer] [debug] current_pose_x:3.3794906145931147, current_pose_y:0.010611353949191793,current_pose_yaw:-0.017306325957179066 +[2026-10-08 18:14:11.338] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.338] [path_visualizer] [debug] current_cmd_angular_z:-0.0008906247926202017 +[2026-10-08 18:14:11.386] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.386] [path_visualizer] [debug] current_pose_x:3.3794906145931147, current_pose_y:0.010611353949191793,current_pose_yaw:-0.017306325957179066 +[2026-10-08 18:14:11.386] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.386] [path_visualizer] [debug] current_cmd_angular_z:-0.0008906247926202017 +[2026-10-08 18:14:11.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.438] [path_visualizer] [debug] current_pose_x:3.3794906145931147, current_pose_y:0.010611353949191793,current_pose_yaw:-0.017306325957179066 +[2026-10-08 18:14:11.438] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.438] [path_visualizer] [debug] current_cmd_angular_z:-0.0008906247926202017 +[2026-10-08 18:14:11.486] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.486] [path_visualizer] [debug] current_pose_x:3.40479818697545, current_pose_y:0.010623085616153726,current_pose_yaw:-0.01733669452369213 +[2026-10-08 18:14:11.486] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.486] [path_visualizer] [debug] current_cmd_angular_z:-0.000874401451170511 +[2026-10-08 18:14:11.539] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.539] [path_visualizer] [debug] current_pose_x:3.40479818697545, current_pose_y:0.010623085616153726,current_pose_yaw:-0.01733669452369213 +[2026-10-08 18:14:11.539] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.539] [path_visualizer] [debug] current_cmd_angular_z:-0.000874401451170511 +[2026-10-08 18:14:11.590] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.590] [path_visualizer] [debug] current_pose_x:3.4301054573161496, current_pose_y:0.010634051510304398,current_pose_yaw:-0.017367061227560043 +[2026-10-08 18:14:11.590] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.590] [path_visualizer] [debug] current_cmd_angular_z:-0.0008563572076233407 +[2026-10-08 18:14:11.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.638] [path_visualizer] [debug] current_pose_x:3.4301054573161496, current_pose_y:0.010634051510304398,current_pose_yaw:-0.017367061227560043 +[2026-10-08 18:14:11.638] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.638] [path_visualizer] [debug] current_cmd_angular_z:-0.0008563572076233407 +[2026-10-08 18:14:11.687] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.687] [path_visualizer] [debug] current_pose_x:3.4301054573161496, current_pose_y:0.010634051510304398,current_pose_yaw:-0.017367061227560043 +[2026-10-08 18:14:11.687] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.687] [path_visualizer] [debug] current_cmd_angular_z:-0.0008563572076233407 +[2026-10-08 18:14:11.735] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.735] [path_visualizer] [debug] current_pose_x:3.4554124282475494, current_pose_y:0.010644254892629545,current_pose_yaw:-0.017397427931427952 +[2026-10-08 18:14:11.735] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.735] [path_visualizer] [debug] current_cmd_angular_z:-0.0008363591032403209 +[2026-10-08 18:14:11.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.789] [path_visualizer] [debug] current_pose_x:3.4554124282475494, current_pose_y:0.010644254892629545,current_pose_yaw:-0.017397427931427952 +[2026-10-08 18:14:11.789] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.789] [path_visualizer] [debug] current_cmd_angular_z:-0.0008363591032403209 +[2026-10-08 18:14:11.839] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.839] [path_visualizer] [debug] current_pose_x:3.4554124282475494, current_pose_y:0.010644254892629545,current_pose_yaw:-0.017397427931427952 +[2026-10-08 18:14:11.839] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.839] [path_visualizer] [debug] current_cmd_angular_z:-0.0008363591032403209 +[2026-10-08 18:14:11.888] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.888] [path_visualizer] [debug] current_pose_x:3.4807212198198623, current_pose_y:0.010655854404368588,current_pose_yaw:-0.017425885424017906 +[2026-10-08 18:14:11.888] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.888] [path_visualizer] [debug] current_cmd_angular_z:-0.0008228395545155157 +[2026-10-08 18:14:11.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.938] [path_visualizer] [debug] current_pose_x:3.4807212198198623, current_pose_y:0.010655854404368588,current_pose_yaw:-0.017425885424017906 +[2026-10-08 18:14:11.938] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.938] [path_visualizer] [debug] current_cmd_angular_z:-0.0008228395545155157 +[2026-10-08 18:14:11.986] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:11.986] [path_visualizer] [debug] current_pose_x:3.5060275976262374, current_pose_y:0.010668900806991882,current_pose_yaw:-0.017452429980039597 +[2026-10-08 18:14:11.986] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:11.986] [path_visualizer] [debug] current_cmd_angular_z:-0.0008159342933837799 +[2026-10-08 18:14:12.040] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.040] [path_visualizer] [debug] current_pose_x:3.5060275976262374, current_pose_y:0.010668900806991882,current_pose_yaw:-0.017452429980039597 +[2026-10-08 18:14:12.040] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.040] [path_visualizer] [debug] current_cmd_angular_z:-0.0008159342933837799 +[2026-10-08 18:14:12.090] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.090] [path_visualizer] [debug] current_pose_x:3.5060275976262374, current_pose_y:0.010668900806991882,current_pose_yaw:-0.017452429980039597 +[2026-10-08 18:14:12.090] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.091] [path_visualizer] [debug] current_cmd_angular_z:-0.0008159342933837799 +[2026-10-08 18:14:12.141] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.141] [path_visualizer] [debug] current_pose_x:3.531333659321267, current_pose_y:0.010681284363347272,current_pose_yaw:-0.01747897453606129 +[2026-10-08 18:14:12.141] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.141] [path_visualizer] [debug] current_cmd_angular_z:-0.0008073305545108524 +[2026-10-08 18:14:12.185] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.185] [path_visualizer] [debug] current_pose_x:3.531333659321267, current_pose_y:0.010681284363347272,current_pose_yaw:-0.01747897453606129 +[2026-10-08 18:14:12.185] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.185] [path_visualizer] [debug] current_cmd_angular_z:-0.0008073305545108524 +[2026-10-08 18:14:12.241] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.241] [path_visualizer] [debug] current_pose_x:3.5566394207966807, current_pose_y:0.010693004407636588,current_pose_yaw:-0.017505517229437828 +[2026-10-08 18:14:12.241] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.241] [path_visualizer] [debug] current_cmd_angular_z:-0.0007970294622088661 +[2026-10-08 18:14:12.282] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.282] [path_visualizer] [debug] current_pose_x:3.5566394207966807, current_pose_y:0.010693004407636588,current_pose_yaw:-0.017505517229437828 +[2026-10-08 18:14:12.282] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.282] [path_visualizer] [debug] current_cmd_angular_z:-0.0007970294622088661 +[2026-10-08 18:14:12.341] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.341] [path_visualizer] [debug] current_pose_x:3.5566394207966807, current_pose_y:0.010693004407636588,current_pose_yaw:-0.017505517229437828 +[2026-10-08 18:14:12.341] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.341] [path_visualizer] [debug] current_cmd_angular_z:-0.0007970294622088661 +[2026-10-08 18:14:12.390] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.390] [path_visualizer] [debug] current_pose_x:3.5819448846946833, current_pose_y:0.010704056628883558,current_pose_yaw:-0.01753205992281437 +[2026-10-08 18:14:12.390] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.390] [path_visualizer] [debug] current_cmd_angular_z:-0.0007850171396753605 +[2026-10-08 18:14:12.433] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.433] [path_visualizer] [debug] current_pose_x:3.5819448846946833, current_pose_y:0.010704056628883558,current_pose_yaw:-0.01753205992281437 +[2026-10-08 18:14:12.433] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.433] [path_visualizer] [debug] current_cmd_angular_z:-0.0007850171396753605 +[2026-10-08 18:14:12.488] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.488] [path_visualizer] [debug] current_pose_x:3.5819448846946833, current_pose_y:0.010704056628883558,current_pose_yaw:-0.01753205992281437 +[2026-10-08 18:14:12.488] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-08 18:14:12.488] [path_visualizer] [debug] current_cmd_angular_z:-0.0007850171396753605 +[2026-10-08 18:14:12.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.538] [path_visualizer] [debug] current_pose_x:3.607250044385578, current_pose_y:0.010714440583927369,current_pose_yaw:-0.01755860261619091 +[2026-10-08 18:14:12.538] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.538] [path_visualizer] [debug] current_cmd_angular_z:-0.0007711539670180838 +[2026-10-08 18:14:12.589] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.589] [path_visualizer] [debug] current_pose_x:3.607250044385578, current_pose_y:0.010714440583927369,current_pose_yaw:-0.01755860261619091 +[2026-10-08 18:14:12.589] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.589] [path_visualizer] [debug] current_cmd_angular_z:-0.0007711539670180838 +[2026-10-08 18:14:12.634] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.634] [path_visualizer] [debug] current_pose_x:3.6325549096091074, current_pose_y:0.010724156372149992,current_pose_yaw:-0.01758514530956745 +[2026-10-08 18:14:12.634] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.634] [path_visualizer] [debug] current_cmd_angular_z:-0.0007557171675668314 +[2026-10-08 18:14:12.685] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.685] [path_visualizer] [debug] current_pose_x:3.6325549096091074, current_pose_y:0.010724156372149992,current_pose_yaw:-0.01758514530956745 +[2026-10-08 18:14:12.685] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.685] [path_visualizer] [debug] current_cmd_angular_z:-0.0007557171675668314 +[2026-10-08 18:14:12.732] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.732] [path_visualizer] [debug] current_pose_x:3.6325549096091074, current_pose_y:0.010724156372149992,current_pose_yaw:-0.01758514530956745 +[2026-10-08 18:14:12.732] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.733] [path_visualizer] [debug] current_cmd_angular_z:-0.0007557171675668314 +[2026-10-08 18:14:12.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.789] [path_visualizer] [debug] current_pose_x:3.6578594688706385, current_pose_y:0.010733203324547438,current_pose_yaw:-0.017611688002943996 +[2026-10-08 18:14:12.789] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.789] [path_visualizer] [debug] current_cmd_angular_z:-0.0007385665427286289 +[2026-10-08 18:14:12.841] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.841] [path_visualizer] [debug] current_pose_x:3.6578594688706385, current_pose_y:0.010733203324547438,current_pose_yaw:-0.017611688002943996 +[2026-10-08 18:14:12.841] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.841] [path_visualizer] [debug] current_cmd_angular_z:-0.0007385665427286289 +[2026-10-08 18:14:12.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.889] [path_visualizer] [debug] current_pose_x:3.683163728955814, current_pose_y:0.01074158334037692,current_pose_yaw:-0.01763822883367538 +[2026-10-08 18:14:12.889] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.889] [path_visualizer] [debug] current_cmd_angular_z:-0.0007197097895153375 +[2026-10-08 18:14:12.933] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.933] [path_visualizer] [debug] current_pose_x:3.683163728955814, current_pose_y:0.01074158334037692,current_pose_yaw:-0.01763822883367538 +[2026-10-08 18:14:12.933] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.933] [path_visualizer] [debug] current_cmd_angular_z:-0.0007197097895153375 +[2026-10-08 18:14:12.986] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:12.986] [path_visualizer] [debug] current_pose_x:3.683163728955814, current_pose_y:0.01074158334037692,current_pose_yaw:-0.01763822883367538 +[2026-10-08 18:14:12.986] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:12.986] [path_visualizer] [debug] current_cmd_angular_z:-0.0007197097895153375 +[2026-10-08 18:14:13.037] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.037] [path_visualizer] [debug] current_pose_x:3.7084692787080202, current_pose_y:0.010750909170979466,current_pose_yaw:-0.017663339152932167 +[2026-10-08 18:14:13.037] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.038] [path_visualizer] [debug] current_cmd_angular_z:-0.0007054503044762531 +[2026-10-08 18:14:13.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.087] [path_visualizer] [debug] current_pose_x:3.7084692787080202, current_pose_y:0.010750909170979466,current_pose_yaw:-0.017663339152932167 +[2026-10-08 18:14:13.087] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.087] [path_visualizer] [debug] current_cmd_angular_z:-0.0007054503044762531 +[2026-10-08 18:14:13.136] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.136] [path_visualizer] [debug] current_pose_x:3.7084692787080202, current_pose_y:0.010750909170979466,current_pose_yaw:-0.017663339152932167 +[2026-10-08 18:14:13.136] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.136] [path_visualizer] [debug] current_cmd_angular_z:-0.0007054503044762531 +[2026-10-08 18:14:13.188] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.188] [path_visualizer] [debug] current_pose_x:3.733772948854238, current_pose_y:0.010762313557767397,current_pose_yaw:-0.017686059698462486 +[2026-10-08 18:14:13.188] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.188] [path_visualizer] [debug] current_cmd_angular_z:-0.0007001482572194136 +[2026-10-08 18:14:13.236] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.236] [path_visualizer] [debug] current_pose_x:3.733772948854238, current_pose_y:0.010762313557767397,current_pose_yaw:-0.017686059698462486 +[2026-10-08 18:14:13.236] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.236] [path_visualizer] [debug] current_cmd_angular_z:-0.0007001482572194136 +[2026-10-08 18:14:13.288] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.288] [path_visualizer] [debug] current_pose_x:3.759076299758351, current_pose_y:0.010773153348162178,current_pose_yaw:-0.017708778381347656 +[2026-10-08 18:14:13.288] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.288] [path_visualizer] [debug] current_cmd_angular_z:-0.000693402318123093 +[2026-10-08 18:14:13.336] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.336] [path_visualizer] [debug] current_pose_x:3.759076299758351, current_pose_y:0.010773153348162178,current_pose_yaw:-0.017708778381347656 +[2026-10-08 18:14:13.336] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.336] [path_visualizer] [debug] current_cmd_angular_z:-0.000693402318123093 +[2026-10-08 18:14:13.387] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.387] [path_visualizer] [debug] current_pose_x:3.759076299758351, current_pose_y:0.010773153348162178,current_pose_yaw:-0.017708778381347656 +[2026-10-08 18:14:13.387] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.387] [path_visualizer] [debug] current_cmd_angular_z:-0.000693402318123093 +[2026-10-08 18:14:13.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.438] [path_visualizer] [debug] current_pose_x:3.784379352996235, current_pose_y:0.010783424748357317,current_pose_yaw:-0.017731497064232826 +[2026-10-08 18:14:13.438] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.438] [path_visualizer] [debug] current_cmd_angular_z:-0.0006850614512443794 +[2026-10-08 18:14:13.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.484] [path_visualizer] [debug] current_pose_x:3.784379352996235, current_pose_y:0.010783424748357317,current_pose_yaw:-0.017731497064232826 +[2026-10-08 18:14:13.484] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.484] [path_visualizer] [debug] current_cmd_angular_z:-0.0006850614512443794 +[2026-10-08 18:14:13.532] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.532] [path_visualizer] [debug] current_pose_x:3.8096821062474464, current_pose_y:0.010793125805191622,current_pose_yaw:-0.017754215747117996 +[2026-10-08 18:14:13.532] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.532] [path_visualizer] [debug] current_cmd_angular_z:-0.0006753976204750267 +[2026-10-08 18:14:13.589] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.589] [path_visualizer] [debug] current_pose_x:3.8096821062474464, current_pose_y:0.010793125805191622,current_pose_yaw:-0.017754215747117996 +[2026-10-08 18:14:13.589] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.589] [path_visualizer] [debug] current_cmd_angular_z:-0.0006753976204750267 +[2026-10-08 18:14:13.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.638] [path_visualizer] [debug] current_pose_x:3.8096821062474464, current_pose_y:0.010793125805191622,current_pose_yaw:-0.017754215747117996 +[2026-10-08 18:14:13.638] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.638] [path_visualizer] [debug] current_cmd_angular_z:-0.0006753976204750267 +[2026-10-08 18:14:13.690] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.690] [path_visualizer] [debug] current_pose_x:3.834984557757095, current_pose_y:0.010802255547951207,current_pose_yaw:-0.017776934430003166 +[2026-10-08 18:14:13.690] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.690] [path_visualizer] [debug] current_cmd_angular_z:-0.0006642698541204084 +[2026-10-08 18:14:13.737] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.737] [path_visualizer] [debug] current_pose_x:3.834984557757095, current_pose_y:0.010802255547951207,current_pose_yaw:-0.017776934430003166 +[2026-10-08 18:14:13.737] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.737] [path_visualizer] [debug] current_cmd_angular_z:-0.0006642698541204084 +[2026-10-08 18:14:13.783] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.783] [path_visualizer] [debug] current_pose_x:3.834984557757095, current_pose_y:0.010802255547951207,current_pose_yaw:-0.017776934430003166 +[2026-10-08 18:14:13.783] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.783] [path_visualizer] [debug] current_cmd_angular_z:-0.0006642698541204084 +[2026-10-08 18:14:13.838] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.838] [path_visualizer] [debug] current_pose_x:3.8602867117564608, current_pose_y:0.010810814345686641,current_pose_yaw:-0.017799653112888336 +[2026-10-08 18:14:13.838] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.838] [path_visualizer] [debug] current_cmd_angular_z:-0.0006516790978359638 +[2026-10-08 18:14:13.888] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.888] [path_visualizer] [debug] current_pose_x:3.8602867117564608, current_pose_y:0.010810814345686641,current_pose_yaw:-0.017799653112888336 +[2026-10-08 18:14:13.888] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.888] [path_visualizer] [debug] current_cmd_angular_z:-0.0006516790978359638 +[2026-10-08 18:14:13.933] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.933] [path_visualizer] [debug] current_pose_x:3.8855885636145278, current_pose_y:0.010818801549600977,current_pose_yaw:-0.017822369933128357 +[2026-10-08 18:14:13.933] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.933] [path_visualizer] [debug] current_cmd_angular_z:-0.0006376265194977665 +[2026-10-08 18:14:13.990] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:13.990] [path_visualizer] [debug] current_pose_x:3.8855885636145278, current_pose_y:0.010818801549600977,current_pose_yaw:-0.017822369933128357 +[2026-10-08 18:14:13.990] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:13.990] [path_visualizer] [debug] current_cmd_angular_z:-0.0006376265194977665 +[2026-10-08 18:14:14.033] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.033] [path_visualizer] [debug] current_pose_x:3.8855885636145278, current_pose_y:0.010818801549600977,current_pose_yaw:-0.017822369933128357 +[2026-10-08 18:14:14.033] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.033] [path_visualizer] [debug] current_cmd_angular_z:-0.0006376265194977665 +[2026-10-08 18:14:14.089] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.089] [path_visualizer] [debug] current_pose_x:3.9108901178843385, current_pose_y:0.010826217682080766,current_pose_yaw:-0.017845086753368374 +[2026-10-08 18:14:14.089] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.090] [path_visualizer] [debug] current_cmd_angular_z:-0.0006221106273156599 +[2026-10-08 18:14:14.137] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.137] [path_visualizer] [debug] current_pose_x:3.9108901178843385, current_pose_y:0.010826217682080766,current_pose_yaw:-0.017845086753368374 +[2026-10-08 18:14:14.137] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.137] [path_visualizer] [debug] current_cmd_angular_z:-0.0006221106273156599 +[2026-10-08 18:14:14.188] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.188] [path_visualizer] [debug] current_pose_x:3.9361913673805136, current_pose_y:0.010833062168490556,current_pose_yaw:-0.01786780543625355 +[2026-10-08 18:14:14.188] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.188] [path_visualizer] [debug] current_cmd_angular_z:-0.0006051271184895138 +[2026-10-08 18:14:14.232] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.232] [path_visualizer] [debug] current_pose_x:3.9361913673805136, current_pose_y:0.010833062168490556,current_pose_yaw:-0.01786780543625355 +[2026-10-08 18:14:14.232] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.233] [path_visualizer] [debug] current_cmd_angular_z:-0.0006051271184895138 +[2026-10-08 18:14:14.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.289] [path_visualizer] [debug] current_pose_x:3.9361913673805136, current_pose_y:0.010833062168490556,current_pose_yaw:-0.01786780543625355 +[2026-10-08 18:14:14.289] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.289] [path_visualizer] [debug] current_cmd_angular_z:-0.0006051271184895138 +[2026-10-08 18:14:14.335] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.335] [path_visualizer] [debug] current_pose_x:3.96149390389067, current_pose_y:0.010840951125705276,current_pose_yaw:-0.01788908988237381 +[2026-10-08 18:14:14.335] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.335] [path_visualizer] [debug] current_cmd_angular_z:-0.0005929993348304241 +[2026-10-08 18:14:14.384] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.384] [path_visualizer] [debug] current_pose_x:3.96149390389067, current_pose_y:0.010840951125705276,current_pose_yaw:-0.01788908988237381 +[2026-10-08 18:14:14.384] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.384] [path_visualizer] [debug] current_cmd_angular_z:-0.0005929993348304241 +[2026-10-08 18:14:14.436] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.436] [path_visualizer] [debug] current_pose_x:3.986794566058534, current_pose_y:0.010851014741814286,current_pose_yaw:-0.017907986417412758 +[2026-10-08 18:14:14.436] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.436] [path_visualizer] [debug] current_cmd_angular_z:-0.0005899339279116754 +[2026-10-08 18:14:14.483] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.483] [path_visualizer] [debug] current_pose_x:3.986794566058534, current_pose_y:0.010851014741814286,current_pose_yaw:-0.017907986417412758 +[2026-10-08 18:14:14.483] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.483] [path_visualizer] [debug] current_cmd_angular_z:-0.0005899339279116754 +[2026-10-08 18:14:14.533] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.533] [path_visualizer] [debug] current_pose_x:3.986794566058534, current_pose_y:0.010851014741814286,current_pose_yaw:-0.017907986417412758 +[2026-10-08 18:14:14.533] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.533] [path_visualizer] [debug] current_cmd_angular_z:-0.0005899339279116754 +[2026-10-08 18:14:14.590] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.590] [path_visualizer] [debug] current_pose_x:4.012094908661555, current_pose_y:0.010860611210774078,current_pose_yaw:-0.017926881089806557 +[2026-10-08 18:14:14.590] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.590] [path_visualizer] [debug] current_cmd_angular_z:-0.0005858128175010441 +[2026-10-08 18:14:14.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.638] [path_visualizer] [debug] current_pose_x:4.012094908661555, current_pose_y:0.010860611210774078,current_pose_yaw:-0.017926881089806557 +[2026-10-08 18:14:14.638] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.638] [path_visualizer] [debug] current_cmd_angular_z:-0.0005858128175010441 +[2026-10-08 18:14:14.689] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.689] [path_visualizer] [debug] current_pose_x:4.012094908661555, current_pose_y:0.010860611210774078,current_pose_yaw:-0.017926881089806557 +[2026-10-08 18:14:14.689] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.689] [path_visualizer] [debug] current_cmd_angular_z:-0.0005858128175010441 +[2026-10-08 18:14:14.733] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.733] [path_visualizer] [debug] current_pose_x:4.037394954776841, current_pose_y:0.010869737232685653,current_pose_yaw:-0.017945775762200356 +[2026-10-08 18:14:14.733] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.733] [path_visualizer] [debug] current_cmd_angular_z:-0.000580486233244519 +[2026-10-08 18:14:14.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.789] [path_visualizer] [debug] current_pose_x:4.037394954776841, current_pose_y:0.010869737232685653,current_pose_yaw:-0.017945775762200356 +[2026-10-08 18:14:14.789] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.790] [path_visualizer] [debug] current_cmd_angular_z:-0.000580486233244519 +[2026-10-08 18:14:14.833] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.833] [path_visualizer] [debug] current_pose_x:4.0626946973068545, current_pose_y:0.01087838759500625,current_pose_yaw:-0.017964670434594154 +[2026-10-08 18:14:14.833] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.833] [path_visualizer] [debug] current_cmd_angular_z:-0.0005739408185188796 +[2026-10-08 18:14:14.885] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.885] [path_visualizer] [debug] current_pose_x:4.0626946973068545, current_pose_y:0.01087838759500625,current_pose_yaw:-0.017964670434594154 +[2026-10-08 18:14:14.885] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.885] [path_visualizer] [debug] current_cmd_angular_z:-0.0005739408185188796 +[2026-10-08 18:14:14.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.938] [path_visualizer] [debug] current_pose_x:4.0626946973068545, current_pose_y:0.01087838759500625,current_pose_yaw:-0.017964670434594154 +[2026-10-08 18:14:14.938] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.938] [path_visualizer] [debug] current_cmd_angular_z:-0.0005739408185188796 +[2026-10-08 18:14:14.990] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:14.990] [path_visualizer] [debug] current_pose_x:4.087994141516268, current_pose_y:0.010886564808785987,current_pose_yaw:-0.017983565106987953 +[2026-10-08 18:14:14.990] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:14.990] [path_visualizer] [debug] current_cmd_angular_z:-0.0005661830076407019 +[2026-10-08 18:14:15.033] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.033] [path_visualizer] [debug] current_pose_x:4.087994141516268, current_pose_y:0.010886564808785987,current_pose_yaw:-0.017983565106987953 +[2026-10-08 18:14:15.033] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.033] [path_visualizer] [debug] current_cmd_angular_z:-0.0005661830076407019 +[2026-10-08 18:14:15.084] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.084] [path_visualizer] [debug] current_pose_x:4.113293284694773, current_pose_y:0.010894267492089634,current_pose_yaw:-0.018002457916736603 +[2026-10-08 18:14:15.084] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.084] [path_visualizer] [debug] current_cmd_angular_z:-0.0005572120898920084 +[2026-10-08 18:14:15.134] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.134] [path_visualizer] [debug] current_pose_x:4.113293284694773, current_pose_y:0.010894267492089634,current_pose_yaw:-0.018002457916736603 +[2026-10-08 18:14:15.134] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.134] [path_visualizer] [debug] current_cmd_angular_z:-0.0005572120898920084 +[2026-10-08 18:14:15.195] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.195] [path_visualizer] [debug] current_pose_x:4.113293284694773, current_pose_y:0.010894267492089634,current_pose_yaw:-0.018002457916736603 +[2026-10-08 18:14:15.195] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.195] [path_visualizer] [debug] current_cmd_angular_z:-0.0005572120898920084 +[2026-10-08 18:14:15.233] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.233] [path_visualizer] [debug] current_pose_x:4.138592130673913, current_pose_y:0.010901495333129172,current_pose_yaw:-0.0180213525891304 +[2026-10-08 18:14:15.233] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.233] [path_visualizer] [debug] current_cmd_angular_z:-0.0005470216056393182 +[2026-10-08 18:14:15.290] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.290] [path_visualizer] [debug] current_pose_x:4.138592130673913, current_pose_y:0.010901495333129172,current_pose_yaw:-0.0180213525891304 +[2026-10-08 18:14:15.290] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.290] [path_visualizer] [debug] current_cmd_angular_z:-0.0005470216056393182 +[2026-10-08 18:14:15.333] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.333] [path_visualizer] [debug] current_pose_x:4.138592130673913, current_pose_y:0.010901495333129172,current_pose_yaw:-0.0180213525891304 +[2026-10-08 18:14:15.333] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.333] [path_visualizer] [debug] current_cmd_angular_z:-0.0005470216056393182 +[2026-10-08 18:14:15.389] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.389] [path_visualizer] [debug] current_pose_x:4.163890674578882, current_pose_y:0.010908250062733837,current_pose_yaw:-0.018040245398879048 +[2026-10-08 18:14:15.389] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.389] [path_visualizer] [debug] current_cmd_angular_z:-0.0005356216506683283 +[2026-10-08 18:14:15.433] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.433] [path_visualizer] [debug] current_pose_x:4.163890674578882, current_pose_y:0.010908250062733837,current_pose_yaw:-0.018040245398879048 +[2026-10-08 18:14:15.433] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.433] [path_visualizer] [debug] current_cmd_angular_z:-0.0005356216506683283 +[2026-10-08 18:14:15.487] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.487] [path_visualizer] [debug] current_pose_x:4.18918892088475, current_pose_y:0.01091453047251231,current_pose_yaw:-0.018059138208627697 +[2026-10-08 18:14:15.487] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.487] [path_visualizer] [debug] current_cmd_angular_z:-0.0005228678139057551 +[2026-10-08 18:14:15.535] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.535] [path_visualizer] [debug] current_pose_x:4.18918892088475, current_pose_y:0.01091453047251231,current_pose_yaw:-0.018059138208627697 +[2026-10-08 18:14:15.535] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.535] [path_visualizer] [debug] current_cmd_angular_z:-0.0005228678139057551 +[2026-10-08 18:14:15.590] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.590] [path_visualizer] [debug] current_pose_x:4.18918892088475, current_pose_y:0.01091453047251231,current_pose_yaw:-0.018059138208627697 +[2026-10-08 18:14:15.590] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.590] [path_visualizer] [debug] current_cmd_angular_z:-0.0005228678139057551 +[2026-10-08 18:14:15.639] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.639] [path_visualizer] [debug] current_pose_x:4.214486862805874, current_pose_y:0.010920335064298802,current_pose_yaw:-0.0180780328810215 +[2026-10-08 18:14:15.639] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.639] [path_visualizer] [debug] current_cmd_angular_z:-0.0005090303947700853 +[2026-10-08 18:14:15.689] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.689] [path_visualizer] [debug] current_pose_x:4.214486862805874, current_pose_y:0.010920335064298802,current_pose_yaw:-0.0180780328810215 +[2026-10-08 18:14:15.689] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.689] [path_visualizer] [debug] current_cmd_angular_z:-0.0005090303947700853 +[2026-10-08 18:14:15.734] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.734] [path_visualizer] [debug] current_pose_x:4.239784507127897, current_pose_y:0.010925666539535151,current_pose_yaw:-0.01809692569077015 +[2026-10-08 18:14:15.734] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.734] [path_visualizer] [debug] current_cmd_angular_z:-0.000493983491808743 +[2026-10-08 18:14:15.786] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.786] [path_visualizer] [debug] current_pose_x:4.239784507127897, current_pose_y:0.010925666539535151,current_pose_yaw:-0.01809692569077015 +[2026-10-08 18:14:15.786] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.786] [path_visualizer] [debug] current_cmd_angular_z:-0.000493983491808743 +[2026-10-08 18:14:15.835] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.835] [path_visualizer] [debug] current_pose_x:4.239784507127897, current_pose_y:0.010925666539535151,current_pose_yaw:-0.01809692569077015 +[2026-10-08 18:14:15.835] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.835] [path_visualizer] [debug] current_cmd_angular_z:-0.000493983491808743 +[2026-10-08 18:14:15.888] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.888] [path_visualizer] [debug] current_pose_x:4.26508345071571, current_pose_y:0.010933215336961675,current_pose_yaw:-0.01811343245208263 +[2026-10-08 18:14:15.888] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.888] [path_visualizer] [debug] current_cmd_angular_z:-0.00048824394002986923 +[2026-10-08 18:14:15.933] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.933] [path_visualizer] [debug] current_pose_x:4.26508345071571, current_pose_y:0.010933215336961675,current_pose_yaw:-0.01811343245208263 +[2026-10-08 18:14:15.933] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.933] [path_visualizer] [debug] current_cmd_angular_z:-0.00048824394002986923 +[2026-10-08 18:14:15.988] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:15.988] [path_visualizer] [debug] current_pose_x:4.26508345071571, current_pose_y:0.010933215336961675,current_pose_yaw:-0.01811343245208263 +[2026-10-08 18:14:15.988] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:15.988] [path_visualizer] [debug] current_cmd_angular_z:-0.00048824394002986923 +[2026-10-08 18:14:16.037] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.037] [path_visualizer] [debug] current_pose_x:4.29037926946767, current_pose_y:0.010944614644906933,current_pose_yaw:-0.018129529431462288 +[2026-10-08 18:14:16.037] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.037] [path_visualizer] [debug] current_cmd_angular_z:-0.0004929936169428203 +[2026-10-08 18:14:16.083] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.083] [path_visualizer] [debug] current_pose_x:4.29037926946767, current_pose_y:0.010944614644906933,current_pose_yaw:-0.018129529431462288 +[2026-10-08 18:14:16.083] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.083] [path_visualizer] [debug] current_cmd_angular_z:-0.0004929936169428203 +[2026-10-08 18:14:16.133] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.133] [path_visualizer] [debug] current_pose_x:4.315668833924078, current_pose_y:0.010957854373417477,current_pose_yaw:-0.018146568909287453 +[2026-10-08 18:14:16.133] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.133] [path_visualizer] [debug] current_cmd_angular_z:-0.0005010270297662808 +[2026-10-08 18:14:16.186] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.186] [path_visualizer] [debug] current_pose_x:4.315668833924078, current_pose_y:0.010957854373417477,current_pose_yaw:-0.018146568909287453 +[2026-10-08 18:14:16.186] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.187] [path_visualizer] [debug] current_cmd_angular_z:-0.0005010270297662808 +[2026-10-08 18:14:16.239] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.239] [path_visualizer] [debug] current_pose_x:4.315668833924078, current_pose_y:0.010957854373417477,current_pose_yaw:-0.018146568909287453 +[2026-10-08 18:14:16.239] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.239] [path_visualizer] [debug] current_cmd_angular_z:-0.0005010270297662808 +[2026-10-08 18:14:16.287] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.287] [path_visualizer] [debug] current_pose_x:4.340956541405465, current_pose_y:0.010965135662128667,current_pose_yaw:-0.01816148310899735 +[2026-10-08 18:14:16.287] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.287] [path_visualizer] [debug] current_cmd_angular_z:-0.0004970219659877588 +[2026-10-08 18:14:16.337] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.337] [path_visualizer] [debug] current_pose_x:4.340956541405465, current_pose_y:0.010965135662128667,current_pose_yaw:-0.01816148310899735 +[2026-10-08 18:14:16.337] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.338] [path_visualizer] [debug] current_cmd_angular_z:-0.0004970219659877588 +[2026-10-08 18:14:16.385] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.385] [path_visualizer] [debug] current_pose_x:4.366244757870268, current_pose_y:0.010972463689669988,current_pose_yaw:-0.018176402896642685 +[2026-10-08 18:14:16.385] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.385] [path_visualizer] [debug] current_cmd_angular_z:-0.0004929896904221596 +[2026-10-08 18:14:16.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.438] [path_visualizer] [debug] current_pose_x:4.366244757870268, current_pose_y:0.010972463689669988,current_pose_yaw:-0.018176402896642685 +[2026-10-08 18:14:16.438] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.438] [path_visualizer] [debug] current_cmd_angular_z:-0.0004929896904221596 +[2026-10-08 18:14:16.483] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.483] [path_visualizer] [debug] current_pose_x:4.366244757870268, current_pose_y:0.010972463689669988,current_pose_yaw:-0.018176402896642685 +[2026-10-08 18:14:16.483] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.483] [path_visualizer] [debug] current_cmd_angular_z:-0.0004929896904221596 +[2026-10-08 18:14:16.533] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.533] [path_visualizer] [debug] current_pose_x:4.3915289932623605, current_pose_y:0.01098137788293494,current_pose_yaw:-0.018192177638411525 +[2026-10-08 18:14:16.533] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.533] [path_visualizer] [debug] current_cmd_angular_z:-0.0004918611589491244 +[2026-10-08 18:14:16.586] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.586] [path_visualizer] [debug] current_pose_x:4.3915289932623605, current_pose_y:0.01098137788293494,current_pose_yaw:-0.018192177638411525 +[2026-10-08 18:14:16.586] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.586] [path_visualizer] [debug] current_cmd_angular_z:-0.0004918611589491244 +[2026-10-08 18:14:16.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.638] [path_visualizer] [debug] current_pose_x:4.3915289932623605, current_pose_y:0.01098137788293494,current_pose_yaw:-0.018192177638411525 +[2026-10-08 18:14:16.638] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.638] [path_visualizer] [debug] current_cmd_angular_z:-0.0004918611589491244 +[2026-10-08 18:14:16.684] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.684] [path_visualizer] [debug] current_pose_x:4.416809250139033, current_pose_y:0.010991615441929739,current_pose_yaw:-0.018208768218755722 +[2026-10-08 18:14:16.684] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.684] [path_visualizer] [debug] current_cmd_angular_z:-0.0004928839257741548 +[2026-10-08 18:14:16.739] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.739] [path_visualizer] [debug] current_pose_x:4.416809250139033, current_pose_y:0.010991615441929739,current_pose_yaw:-0.018208768218755722 +[2026-10-08 18:14:16.739] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.739] [path_visualizer] [debug] current_cmd_angular_z:-0.0004928839257741548 +[2026-10-08 18:14:16.783] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.783] [path_visualizer] [debug] current_pose_x:4.442086964877149, current_pose_y:0.011002482930763037,current_pose_yaw:-0.018225887790322307 +[2026-10-08 18:14:16.783] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.783] [path_visualizer] [debug] current_cmd_angular_z:-0.0004947170047724485 +[2026-10-08 18:14:16.834] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.834] [path_visualizer] [debug] current_pose_x:4.442086964877149, current_pose_y:0.011002482930763037,current_pose_yaw:-0.018225887790322307 +[2026-10-08 18:14:16.834] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.834] [path_visualizer] [debug] current_cmd_angular_z:-0.0004947170047724485 +[2026-10-08 18:14:16.886] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.886] [path_visualizer] [debug] current_pose_x:4.442086964877149, current_pose_y:0.011002482930763037,current_pose_yaw:-0.018225887790322307 +[2026-10-08 18:14:16.886] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.886] [path_visualizer] [debug] current_cmd_angular_z:-0.0004947170047724485 +[2026-10-08 18:14:16.937] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.937] [path_visualizer] [debug] current_pose_x:4.467364979097443, current_pose_y:0.01101282660535691,current_pose_yaw:-0.018243003636598584 +[2026-10-08 18:14:16.937] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.937] [path_visualizer] [debug] current_cmd_angular_z:-0.0004952135225043813 +[2026-10-08 18:14:16.989] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:16.989] [path_visualizer] [debug] current_pose_x:4.467364979097443, current_pose_y:0.01101282660535691,current_pose_yaw:-0.018243003636598584 +[2026-10-08 18:14:16.989] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:16.989] [path_visualizer] [debug] current_cmd_angular_z:-0.0004952135225043813 +[2026-10-08 18:14:17.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.038] [path_visualizer] [debug] current_pose_x:4.492643198667514, current_pose_y:0.011022706484130685,current_pose_yaw:-0.01826011575758457 +[2026-10-08 18:14:17.038] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.038] [path_visualizer] [debug] current_cmd_angular_z:-0.0004945272702096444 +[2026-10-08 18:14:17.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.087] [path_visualizer] [debug] current_pose_x:4.492643198667514, current_pose_y:0.011022706484130685,current_pose_yaw:-0.01826011575758457 +[2026-10-08 18:14:17.087] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.087] [path_visualizer] [debug] current_cmd_angular_z:-0.0004945272702096444 +[2026-10-08 18:14:17.133] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.133] [path_visualizer] [debug] current_pose_x:4.492643198667514, current_pose_y:0.011022706484130685,current_pose_yaw:-0.01826011575758457 +[2026-10-08 18:14:17.133] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.133] [path_visualizer] [debug] current_cmd_angular_z:-0.0004945272702096444 +[2026-10-08 18:14:17.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.189] [path_visualizer] [debug] current_pose_x:4.517921583799315, current_pose_y:0.011032145128133025,current_pose_yaw:-0.01827722229063511 +[2026-10-08 18:14:17.189] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.189] [path_visualizer] [debug] current_cmd_angular_z:-0.0004927188886889727 +[2026-10-08 18:14:17.237] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.237] [path_visualizer] [debug] current_pose_x:4.517921583799315, current_pose_y:0.011032145128133025,current_pose_yaw:-0.01827722229063511 +[2026-10-08 18:14:17.237] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.237] [path_visualizer] [debug] current_cmd_angular_z:-0.0004927188886889727 +[2026-10-08 18:14:17.285] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.285] [path_visualizer] [debug] current_pose_x:4.517921583799315, current_pose_y:0.011032145128133025,current_pose_yaw:-0.01827722229063511 +[2026-10-08 18:14:17.285] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.285] [path_visualizer] [debug] current_cmd_angular_z:-0.0004927188886889727 +[2026-10-08 18:14:17.335] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.335] [path_visualizer] [debug] current_pose_x:4.543200122266847, current_pose_y:0.011041149408331013,current_pose_yaw:-0.0182943232357502 +[2026-10-08 18:14:17.335] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.335] [path_visualizer] [debug] current_cmd_angular_z:-0.0004898059841132382 +[2026-10-08 18:14:17.386] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.387] [path_visualizer] [debug] current_pose_x:4.543200122266847, current_pose_y:0.011041149408331013,current_pose_yaw:-0.0182943232357502 +[2026-10-08 18:14:17.387] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.387] [path_visualizer] [debug] current_cmd_angular_z:-0.0004898059841132382 +[2026-10-08 18:14:17.435] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.435] [path_visualizer] [debug] current_pose_x:4.568478807118651, current_pose_y:0.011049723541332712,current_pose_yaw:-0.01831141859292984 +[2026-10-08 18:14:17.435] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.435] [path_visualizer] [debug] current_cmd_angular_z:-0.0004856608767852093 +[2026-10-08 18:14:17.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.484] [path_visualizer] [debug] current_pose_x:4.568478807118651, current_pose_y:0.011049723541332712,current_pose_yaw:-0.01831141859292984 +[2026-10-08 18:14:17.484] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.485] [path_visualizer] [debug] current_cmd_angular_z:-0.0004856608767852093 +[2026-10-08 18:14:17.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.537] [path_visualizer] [debug] current_pose_x:4.568478807118651, current_pose_y:0.011049723541332712,current_pose_yaw:-0.01831141859292984 +[2026-10-08 18:14:17.537] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.537] [path_visualizer] [debug] current_cmd_angular_z:-0.0004856608767852093 +[2026-10-08 18:14:17.589] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.589] [path_visualizer] [debug] current_pose_x:4.593757633401948, current_pose_y:0.011057867126097064,current_pose_yaw:-0.018328510224819183 +[2026-10-08 18:14:17.589] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.589] [path_visualizer] [debug] current_cmd_angular_z:-0.0004805566773965382 +[2026-10-08 18:14:17.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.638] [path_visualizer] [debug] current_pose_x:4.593757633401948, current_pose_y:0.011057867126097064,current_pose_yaw:-0.018328510224819183 +[2026-10-08 18:14:17.638] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.638] [path_visualizer] [debug] current_cmd_angular_z:-0.0004805566773965382 +[2026-10-08 18:14:17.683] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.683] [path_visualizer] [debug] current_pose_x:4.619036598318587, current_pose_y:0.011065586226240667,current_pose_yaw:-0.018345594406127933 +[2026-10-08 18:14:17.683] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.683] [path_visualizer] [debug] current_cmd_angular_z:-0.00047437609973360884 +[2026-10-08 18:14:17.733] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.733] [path_visualizer] [debug] current_pose_x:4.619036598318587, current_pose_y:0.011065586226240667,current_pose_yaw:-0.018345594406127933 +[2026-10-08 18:14:17.733] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.733] [path_visualizer] [debug] current_cmd_angular_z:-0.00047437609973360884 +[2026-10-08 18:14:17.785] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.785] [path_visualizer] [debug] current_pose_x:4.619036598318587, current_pose_y:0.011065586226240667,current_pose_yaw:-0.018345594406127933 +[2026-10-08 18:14:17.785] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.785] [path_visualizer] [debug] current_cmd_angular_z:-0.00047437609973360884 +[2026-10-08 18:14:17.839] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.839] [path_visualizer] [debug] current_pose_x:4.644315704822667, current_pose_y:0.01107287663533541,current_pose_yaw:-0.018362674862146378 +[2026-10-08 18:14:17.839] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.839] [path_visualizer] [debug] current_cmd_angular_z:-0.0004671027045344417 +[2026-10-08 18:14:17.887] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.887] [path_visualizer] [debug] current_pose_x:4.644315704822667, current_pose_y:0.01107287663533541,current_pose_yaw:-0.018362674862146378 +[2026-10-08 18:14:17.887] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.887] [path_visualizer] [debug] current_cmd_angular_z:-0.0004671027045344417 +[2026-10-08 18:14:17.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.938] [path_visualizer] [debug] current_pose_x:4.644315704822667, current_pose_y:0.01107287663533541,current_pose_yaw:-0.018362674862146378 +[2026-10-08 18:14:17.938] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.938] [path_visualizer] [debug] current_cmd_angular_z:-0.0004671027045344417 +[2026-10-08 18:14:17.989] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:17.989] [path_visualizer] [debug] current_pose_x:4.669594950281851, current_pose_y:0.011079741509869451,current_pose_yaw:-0.01837974786758423 +[2026-10-08 18:14:17.989] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:17.990] [path_visualizer] [debug] current_cmd_angular_z:-0.000458750240694146 +[2026-10-08 18:14:18.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.039] [path_visualizer] [debug] current_pose_x:4.669594950281851, current_pose_y:0.011079741509869451,current_pose_yaw:-0.01837974786758423 +[2026-10-08 18:14:18.039] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.039] [path_visualizer] [debug] current_cmd_angular_z:-0.000458750240694146 +[2026-10-08 18:14:18.088] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.088] [path_visualizer] [debug] current_pose_x:4.694874334696138, current_pose_y:0.011086178443290245,current_pose_yaw:-0.01839681528508663 +[2026-10-08 18:14:18.088] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.088] [path_visualizer] [debug] current_cmd_angular_z:-0.00044930971130697356 +[2026-10-08 18:14:18.135] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.135] [path_visualizer] [debug] current_pose_x:4.694874334696138, current_pose_y:0.011086178443290245,current_pose_yaw:-0.01839681528508663 +[2026-10-08 18:14:18.135] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.136] [path_visualizer] [debug] current_cmd_angular_z:-0.00044930971130697356 +[2026-10-08 18:14:18.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.189] [path_visualizer] [debug] current_pose_x:4.694874334696138, current_pose_y:0.011086178443290245,current_pose_yaw:-0.01839681528508663 +[2026-10-08 18:14:18.189] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.189] [path_visualizer] [debug] current_cmd_angular_z:-0.00044930971130697356 +[2026-10-08 18:14:18.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.238] [path_visualizer] [debug] current_pose_x:4.72015385606685, current_pose_y:0.011092189245602067,current_pose_yaw:-0.018413877114653587 +[2026-10-08 18:14:18.238] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.238] [path_visualizer] [debug] current_cmd_angular_z:-0.00043878575432913444 +[2026-10-08 18:14:18.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.289] [path_visualizer] [debug] current_pose_x:4.72015385606685, current_pose_y:0.011092189245602067,current_pose_yaw:-0.018413877114653587 +[2026-10-08 18:14:18.289] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.289] [path_visualizer] [debug] current_cmd_angular_z:-0.00043878575432913444 +[2026-10-08 18:14:18.335] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.335] [path_visualizer] [debug] current_pose_x:4.745433512950989, current_pose_y:0.01109777706156043,current_pose_yaw:-0.0184309333562851 +[2026-10-08 18:14:18.335] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.336] [path_visualizer] [debug] current_cmd_angular_z:-0.00042718642788436637 +[2026-10-08 18:14:18.393] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.393] [path_visualizer] [debug] current_pose_x:4.745433512950989, current_pose_y:0.01109777706156043,current_pose_yaw:-0.0184309333562851 +[2026-10-08 18:14:18.393] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.393] [path_visualizer] [debug] current_cmd_angular_z:-0.00042718642788436637 +[2026-10-08 18:14:18.440] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.440] [path_visualizer] [debug] current_pose_x:4.745433512950989, current_pose_y:0.01109777706156043,current_pose_yaw:-0.0184309333562851 +[2026-10-08 18:14:18.440] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.440] [path_visualizer] [debug] current_cmd_angular_z:-0.00042718642788436637 +[2026-10-08 18:14:18.488] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.488] [path_visualizer] [debug] current_pose_x:4.770713304724767, current_pose_y:0.011102934061318183,current_pose_yaw:-0.018447984009981152 +[2026-10-08 18:14:18.488] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.488] [path_visualizer] [debug] current_cmd_angular_z:-0.0004143531844301822 +[2026-10-08 18:14:18.543] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.543] [path_visualizer] [debug] current_pose_x:4.770713304724767, current_pose_y:0.011102934061318183,current_pose_yaw:-0.018447984009981152 +[2026-10-08 18:14:18.543] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.543] [path_visualizer] [debug] current_cmd_angular_z:-0.0004143531844301822 +[2026-10-08 18:14:18.582] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.582] [path_visualizer] [debug] current_pose_x:4.770713304724767, current_pose_y:0.011102934061318183,current_pose_yaw:-0.018447984009981152 +[2026-10-08 18:14:18.582] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.583] [path_visualizer] [debug] current_cmd_angular_z:-0.0004143531844301822 +[2026-10-08 18:14:18.636] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.636] [path_visualizer] [debug] current_pose_x:4.795993235443781, current_pose_y:0.011107668686464246,current_pose_yaw:-0.01846502721309662 +[2026-10-08 18:14:18.636] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.636] [path_visualizer] [debug] current_cmd_angular_z:-0.00040058745372709495 +[2026-10-08 18:14:18.689] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.689] [path_visualizer] [debug] current_pose_x:4.795993235443781, current_pose_y:0.011107668686464246,current_pose_yaw:-0.01846502721309662 +[2026-10-08 18:14:18.689] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.689] [path_visualizer] [debug] current_cmd_angular_z:-0.00040058745372709495 +[2026-10-08 18:14:18.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.738] [path_visualizer] [debug] current_pose_x:4.821273300243094, current_pose_y:0.01111197910678708,current_pose_yaw:-0.018482064828276634 +[2026-10-08 18:14:18.738] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.738] [path_visualizer] [debug] current_cmd_angular_z:-0.0003857432313492948 +[2026-10-08 18:14:18.782] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.782] [path_visualizer] [debug] current_pose_x:4.821273300243094, current_pose_y:0.01111197910678708,current_pose_yaw:-0.018482064828276634 +[2026-10-08 18:14:18.782] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.782] [path_visualizer] [debug] current_cmd_angular_z:-0.0003857432313492948 +[2026-10-08 18:14:18.839] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.839] [path_visualizer] [debug] current_pose_x:4.821273300243094, current_pose_y:0.01111197910678708,current_pose_yaw:-0.018482064828276634 +[2026-10-08 18:14:18.839] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.839] [path_visualizer] [debug] current_cmd_angular_z:-0.0003857432313492948 +[2026-10-08 18:14:18.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.889] [path_visualizer] [debug] current_pose_x:4.84655508045895, current_pose_y:0.011117479752208162,current_pose_yaw:-0.018497664481401443 +[2026-10-08 18:14:18.889] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.889] [path_visualizer] [debug] current_cmd_angular_z:-0.0003761338757494771 +[2026-10-08 18:14:18.933] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.933] [path_visualizer] [debug] current_pose_x:4.84655508045895, current_pose_y:0.011117479752208162,current_pose_yaw:-0.018497664481401443 +[2026-10-08 18:14:18.933] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.933] [path_visualizer] [debug] current_cmd_angular_z:-0.0003761338757494771 +[2026-10-08 18:14:18.986] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:18.986] [path_visualizer] [debug] current_pose_x:4.8718354231877665, current_pose_y:0.011125301901221588,current_pose_yaw:-0.018510868772864345 +[2026-10-08 18:14:18.986] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:18.986] [path_visualizer] [debug] current_cmd_angular_z:-0.0003761129775991384 +[2026-10-08 18:14:19.032] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.032] [path_visualizer] [debug] current_pose_x:4.8718354231877665, current_pose_y:0.011125301901221588,current_pose_yaw:-0.018510868772864345 +[2026-10-08 18:14:19.032] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.032] [path_visualizer] [debug] current_cmd_angular_z:-0.0003761129775991384 +[2026-10-08 18:14:19.093] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.093] [path_visualizer] [debug] current_pose_x:4.8718354231877665, current_pose_y:0.011125301901221588,current_pose_yaw:-0.018510868772864345 +[2026-10-08 18:14:19.093] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.093] [path_visualizer] [debug] current_cmd_angular_z:-0.0003761129775991384 +[2026-10-08 18:14:19.136] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.136] [path_visualizer] [debug] current_pose_x:4.89711587985316, current_pose_y:0.011132804866821285,current_pose_yaw:-0.018524063751101494 +[2026-10-08 18:14:19.136] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.136] [path_visualizer] [debug] current_cmd_angular_z:-0.00037528835541500785 +[2026-10-08 18:14:19.195] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.195] [path_visualizer] [debug] current_pose_x:4.89711587985316, current_pose_y:0.011132804866821285,current_pose_yaw:-0.018524063751101494 +[2026-10-08 18:14:19.195] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.195] [path_visualizer] [debug] current_cmd_angular_z:-0.00037528835541500785 +[2026-10-08 18:14:19.233] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.233] [path_visualizer] [debug] current_pose_x:4.89711587985316, current_pose_y:0.011132804866821285,current_pose_yaw:-0.018524063751101494 +[2026-10-08 18:14:19.233] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.233] [path_visualizer] [debug] current_cmd_angular_z:-0.00037528835541500785 +[2026-10-08 18:14:19.285] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.285] [path_visualizer] [debug] current_pose_x:4.922396470432062, current_pose_y:0.011139979725293113,current_pose_yaw:-0.018537253141403198 +[2026-10-08 18:14:19.285] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.285] [path_visualizer] [debug] current_cmd_angular_z:-0.0003736314823580625 +[2026-10-08 18:14:19.337] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.338] [path_visualizer] [debug] current_pose_x:4.922396470432062, current_pose_y:0.011139979725293113,current_pose_yaw:-0.018537253141403198 +[2026-10-08 18:14:19.338] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.338] [path_visualizer] [debug] current_cmd_angular_z:-0.0003736314823580625 +[2026-10-08 18:14:19.385] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.385] [path_visualizer] [debug] current_pose_x:4.947677193481473, current_pose_y:0.011146827615932359,current_pose_yaw:-0.018550435081124302 +[2026-10-08 18:14:19.385] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.385] [path_visualizer] [debug] current_cmd_angular_z:-0.00037100962377648733 +[2026-10-08 18:14:19.433] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.433] [path_visualizer] [debug] current_pose_x:4.947677193481473, current_pose_y:0.011146827615932359,current_pose_yaw:-0.018550435081124302 +[2026-10-08 18:14:19.433] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.433] [path_visualizer] [debug] current_cmd_angular_z:-0.00037100962377648733 +[2026-10-08 18:14:19.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.484] [path_visualizer] [debug] current_pose_x:4.947677193481473, current_pose_y:0.011146827615932359,current_pose_yaw:-0.018550435081124302 +[2026-10-08 18:14:19.484] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.484] [path_visualizer] [debug] current_cmd_angular_z:-0.00037100962377648733 +[2026-10-08 18:14:19.535] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.535] [path_visualizer] [debug] current_pose_x:4.972958047646239, current_pose_y:0.011153349051046898,current_pose_yaw:-0.018563611432909966 +[2026-10-08 18:14:19.535] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.535] [path_visualizer] [debug] current_cmd_angular_z:-0.0003676982307278705 +[2026-10-08 18:14:19.586] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.586] [path_visualizer] [debug] current_pose_x:4.972958047646239, current_pose_y:0.011153349051046898,current_pose_yaw:-0.018563611432909966 +[2026-10-08 18:14:19.586] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.586] [path_visualizer] [debug] current_cmd_angular_z:-0.0003676982307278705 +[2026-10-08 18:14:19.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.638] [path_visualizer] [debug] current_pose_x:4.998239031005655, current_pose_y:0.011159544362683703,current_pose_yaw:-0.01857678033411503 +[2026-10-08 18:14:19.638] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.638] [path_visualizer] [debug] current_cmd_angular_z:-0.0003635625000667636 +[2026-10-08 18:14:19.690] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.690] [path_visualizer] [debug] current_pose_x:4.998239031005655, current_pose_y:0.011159544362683703,current_pose_yaw:-0.01857678033411503 +[2026-10-08 18:14:19.690] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.690] [path_visualizer] [debug] current_cmd_angular_z:-0.0003635625000667636 +[2026-10-08 18:14:19.737] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.737] [path_visualizer] [debug] current_pose_x:4.998239031005655, current_pose_y:0.011159544362683703,current_pose_yaw:-0.01857678033411503 +[2026-10-08 18:14:19.737] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.737] [path_visualizer] [debug] current_cmd_angular_z:-0.0003635625000667636 +[2026-10-08 18:14:19.791] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.791] [path_visualizer] [debug] current_pose_x:5.02352014164888, current_pose_y:0.011165413530584038,current_pose_yaw:-0.01858993992209435 +[2026-10-08 18:14:19.791] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.791] [path_visualizer] [debug] current_cmd_angular_z:-0.0003586052102359828 +[2026-10-08 18:14:19.833] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.833] [path_visualizer] [debug] current_pose_x:5.02352014164888, current_pose_y:0.011165413530584038,current_pose_yaw:-0.01858993992209435 +[2026-10-08 18:14:19.833] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.834] [path_visualizer] [debug] current_cmd_angular_z:-0.0003586052102359828 +[2026-10-08 18:14:19.884] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.885] [path_visualizer] [debug] current_pose_x:5.02352014164888, current_pose_y:0.011165413530584038,current_pose_yaw:-0.01858993992209435 +[2026-10-08 18:14:19.885] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.885] [path_visualizer] [debug] current_cmd_angular_z:-0.0003586052102359828 +[2026-10-08 18:14:19.935] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.935] [path_visualizer] [debug] current_pose_x:5.0488013857180345, current_pose_y:0.011170957746241165,current_pose_yaw:-0.018603093922138214 +[2026-10-08 18:14:19.935] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.935] [path_visualizer] [debug] current_cmd_angular_z:-0.00035282375361106455 +[2026-10-08 18:14:19.987] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:19.987] [path_visualizer] [debug] current_pose_x:5.0488013857180345, current_pose_y:0.011170957746241165,current_pose_yaw:-0.018603093922138214 +[2026-10-08 18:14:19.987] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:19.987] [path_visualizer] [debug] current_cmd_angular_z:-0.00035282375361106455 +[2026-10-08 18:14:20.035] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.035] [path_visualizer] [debug] current_pose_x:5.074082753795139, current_pose_y:0.011176175058148755,current_pose_yaw:-0.018616240471601486 +[2026-10-08 18:14:20.035] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.035] [path_visualizer] [debug] current_cmd_angular_z:-0.00034621596000463176 +[2026-10-08 18:14:20.083] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.083] [path_visualizer] [debug] current_pose_x:5.074082753795139, current_pose_y:0.011176175058148755,current_pose_yaw:-0.018616240471601486 +[2026-10-08 18:14:20.083] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.083] [path_visualizer] [debug] current_cmd_angular_z:-0.00034621596000463176 +[2026-10-08 18:14:20.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.138] [path_visualizer] [debug] current_pose_x:5.074082753795139, current_pose_y:0.011176175058148755,current_pose_yaw:-0.018616240471601486 +[2026-10-08 18:14:20.138] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.138] [path_visualizer] [debug] current_cmd_angular_z:-0.00034621596000463176 +[2026-10-08 18:14:20.183] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.183] [path_visualizer] [debug] current_pose_x:5.099364247235347, current_pose_y:0.011181066959458492,current_pose_yaw:-0.01862937957048416 +[2026-10-08 18:14:20.183] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.183] [path_visualizer] [debug] current_cmd_angular_z:-0.0003387856554696138 +[2026-10-08 18:14:20.237] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.237] [path_visualizer] [debug] current_pose_x:5.099364247235347, current_pose_y:0.011181066959458492,current_pose_yaw:-0.01862937957048416 +[2026-10-08 18:14:20.237] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.237] [path_visualizer] [debug] current_cmd_angular_z:-0.0003387856554696138 +[2026-10-08 18:14:20.283] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.283] [path_visualizer] [debug] current_pose_x:5.12464586651637, current_pose_y:0.011185635059603091,current_pose_yaw:-0.01864250935614109 +[2026-10-08 18:14:20.283] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.283] [path_visualizer] [debug] current_cmd_angular_z:-0.00033053979437134423 +[2026-10-08 18:14:20.338] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.338] [path_visualizer] [debug] current_pose_x:5.12464586651637, current_pose_y:0.011185635059603091,current_pose_yaw:-0.01864250935614109 +[2026-10-08 18:14:20.338] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.338] [path_visualizer] [debug] current_cmd_angular_z:-0.00033053979437134423 +[2026-10-08 18:14:20.388] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.388] [path_visualizer] [debug] current_pose_x:5.12464586651637, current_pose_y:0.011185635059603091,current_pose_yaw:-0.01864250935614109 +[2026-10-08 18:14:20.388] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.389] [path_visualizer] [debug] current_cmd_angular_z:-0.00033053979437134423 +[2026-10-08 18:14:20.440] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.441] [path_visualizer] [debug] current_pose_x:5.149927613237151, current_pose_y:0.011189878472108283,current_pose_yaw:-0.018655633553862568 +[2026-10-08 18:14:20.441] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.441] [path_visualizer] [debug] current_cmd_angular_z:-0.0003213319601632174 +[2026-10-08 18:14:20.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.484] [path_visualizer] [debug] current_pose_x:5.149927613237151, current_pose_y:0.011189878472108283,current_pose_yaw:-0.018655633553862568 +[2026-10-08 18:14:20.484] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.485] [path_visualizer] [debug] current_cmd_angular_z:-0.0003213319601632174 +[2026-10-08 18:14:20.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.538] [path_visualizer] [debug] current_pose_x:5.149927613237151, current_pose_y:0.011189878472108283,current_pose_yaw:-0.018655633553862568 +[2026-10-08 18:14:20.538] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.538] [path_visualizer] [debug] current_cmd_angular_z:-0.0003213319601632174 +[2026-10-08 18:14:20.592] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.592] [path_visualizer] [debug] current_pose_x:5.175209479169049, current_pose_y:0.011193797239195542,current_pose_yaw:-0.018668748438358307 +[2026-10-08 18:14:20.592] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.592] [path_visualizer] [debug] current_cmd_angular_z:-0.00031144489041455906 +[2026-10-08 18:14:20.633] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.633] [path_visualizer] [debug] current_pose_x:5.175209479169049, current_pose_y:0.011193797239195542,current_pose_yaw:-0.018668748438358307 +[2026-10-08 18:14:20.633] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.633] [path_visualizer] [debug] current_cmd_angular_z:-0.00031144489041455906 +[2026-10-08 18:14:20.689] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.689] [path_visualizer] [debug] current_pose_x:5.200491469264843, current_pose_y:0.011197392162998022,current_pose_yaw:-0.018681855872273445 +[2026-10-08 18:14:20.689] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.689] [path_visualizer] [debug] current_cmd_angular_z:-0.00030073932582144053 +[2026-10-08 18:14:20.732] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.732] [path_visualizer] [debug] current_pose_x:5.200491469264843, current_pose_y:0.011197392162998022,current_pose_yaw:-0.018681855872273445 +[2026-10-08 18:14:20.732] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.732] [path_visualizer] [debug] current_cmd_angular_z:-0.00030073932582144053 +[2026-10-08 18:14:20.787] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.787] [path_visualizer] [debug] current_pose_x:5.200491469264843, current_pose_y:0.011197392162998022,current_pose_yaw:-0.018681855872273445 +[2026-10-08 18:14:20.787] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.787] [path_visualizer] [debug] current_cmd_angular_z:-0.00030073932582144053 +[2026-10-08 18:14:20.847] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.847] [path_visualizer] [debug] current_pose_x:5.225773581447881, current_pose_y:0.011200664927110044,current_pose_yaw:-0.018694953992962837 +[2026-10-08 18:14:20.847] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.848] [path_visualizer] [debug] current_cmd_angular_z:-0.0002892224107809427 +[2026-10-08 18:14:20.890] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.890] [path_visualizer] [debug] current_pose_x:5.225773581447881, current_pose_y:0.011200664927110044,current_pose_yaw:-0.018694953992962837 +[2026-10-08 18:14:20.890] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.890] [path_visualizer] [debug] current_cmd_angular_z:-0.0002892224107809427 +[2026-10-08 18:14:20.939] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.939] [path_visualizer] [debug] current_pose_x:5.251055818194552, current_pose_y:0.011203612523315637,current_pose_yaw:-0.018708044663071632 +[2026-10-08 18:14:20.939] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.939] [path_visualizer] [debug] current_cmd_angular_z:-0.00027688360668453454 +[2026-10-08 18:14:20.986] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:20.986] [path_visualizer] [debug] current_pose_x:5.251055818194552, current_pose_y:0.011203612523315637,current_pose_yaw:-0.018708044663071632 +[2026-10-08 18:14:20.986] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:20.986] [path_visualizer] [debug] current_cmd_angular_z:-0.00027688360668453454 +[2026-10-08 18:14:21.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.038] [path_visualizer] [debug] current_pose_x:5.251055818194552, current_pose_y:0.011203612523315637,current_pose_yaw:-0.018708044663071632 +[2026-10-08 18:14:21.038] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.038] [path_visualizer] [debug] current_cmd_angular_z:-0.00027688360668453454 +[2026-10-08 18:14:21.084] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.084] [path_visualizer] [debug] current_pose_x:5.276338168799825, current_pose_y:0.011206238804236652,current_pose_yaw:-0.018721126019954678 +[2026-10-08 18:14:21.084] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.084] [path_visualizer] [debug] current_cmd_angular_z:-0.0002637356158469682 +[2026-10-08 18:14:21.139] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.139] [path_visualizer] [debug] current_pose_x:5.276338168799825, current_pose_y:0.011206238804236652,current_pose_yaw:-0.018721126019954678 +[2026-10-08 18:14:21.139] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.139] [path_visualizer] [debug] current_cmd_angular_z:-0.0002637356158469682 +[2026-10-08 18:14:21.188] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.188] [path_visualizer] [debug] current_pose_x:5.276338168799825, current_pose_y:0.011206238804236652,current_pose_yaw:-0.018721126019954678 +[2026-10-08 18:14:21.188] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.188] [path_visualizer] [debug] current_cmd_angular_z:-0.0002637356158469682 +[2026-10-08 18:14:21.234] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.234] [path_visualizer] [debug] current_pose_x:5.301620639240539, current_pose_y:0.011212864707032028,current_pose_yaw:-0.018730377778410908 +[2026-10-08 18:14:21.234] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.234] [path_visualizer] [debug] current_cmd_angular_z:-0.0002666554663650726 +[2026-10-08 18:14:21.291] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.291] [path_visualizer] [debug] current_pose_x:5.301620639240539, current_pose_y:0.011212864707032028,current_pose_yaw:-0.018730377778410908 +[2026-10-08 18:14:21.291] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.291] [path_visualizer] [debug] current_cmd_angular_z:-0.0002666554663650726 +[2026-10-08 18:14:21.334] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.334] [path_visualizer] [debug] current_pose_x:5.326903226473242, current_pose_y:0.011219277433526775,current_pose_yaw:-0.018739620223641396 +[2026-10-08 18:14:21.334] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.334] [path_visualizer] [debug] current_cmd_angular_z:-0.0002690432255502348 +[2026-10-08 18:14:21.391] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.391] [path_visualizer] [debug] current_pose_x:5.326903226473242, current_pose_y:0.011219277433526775,current_pose_yaw:-0.018739620223641396 +[2026-10-08 18:14:21.391] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.391] [path_visualizer] [debug] current_cmd_angular_z:-0.0002690432255502348 +[2026-10-08 18:14:21.437] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.437] [path_visualizer] [debug] current_pose_x:5.326903226473242, current_pose_y:0.011219277433526775,current_pose_yaw:-0.018739620223641396 +[2026-10-08 18:14:21.437] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.437] [path_visualizer] [debug] current_cmd_angular_z:-0.0002690432255502348 +[2026-10-08 18:14:21.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.485] [path_visualizer] [debug] current_pose_x:5.352185931151327, current_pose_y:0.01122546370205016,current_pose_yaw:-0.018748851493000984 +[2026-10-08 18:14:21.485] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.485] [path_visualizer] [debug] current_cmd_angular_z:-0.0002707292064572167 +[2026-10-08 18:14:21.533] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.533] [path_visualizer] [debug] current_pose_x:5.352185931151327, current_pose_y:0.01122546370205016,current_pose_yaw:-0.018748851493000984 +[2026-10-08 18:14:21.533] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.533] [path_visualizer] [debug] current_cmd_angular_z:-0.0002707292064572167 +[2026-10-08 18:14:21.584] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.584] [path_visualizer] [debug] current_pose_x:5.3774674414130885, current_pose_y:0.011230900356385437,current_pose_yaw:-0.018757810816168785 +[2026-10-08 18:14:21.584] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.584] [path_visualizer] [debug] current_cmd_angular_z:-0.0002710460914385482 +[2026-10-08 18:14:21.633] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.633] [path_visualizer] [debug] current_pose_x:5.3774674414130885, current_pose_y:0.011230900356385437,current_pose_yaw:-0.018757810816168785 +[2026-10-08 18:14:21.633] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.633] [path_visualizer] [debug] current_cmd_angular_z:-0.0002710460914385482 +[2026-10-08 18:14:21.685] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.686] [path_visualizer] [debug] current_pose_x:5.3774674414130885, current_pose_y:0.011230900356385437,current_pose_yaw:-0.018757810816168785 +[2026-10-08 18:14:21.686] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.686] [path_visualizer] [debug] current_cmd_angular_z:-0.0002710460914385482 +[2026-10-08 18:14:21.734] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.734] [path_visualizer] [debug] current_pose_x:5.402745004451953, current_pose_y:0.01123449271262292,current_pose_yaw:-0.018765971064567562 +[2026-10-08 18:14:21.734] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.734] [path_visualizer] [debug] current_cmd_angular_z:-0.000267851367472878 +[2026-10-08 18:14:21.790] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.790] [path_visualizer] [debug] current_pose_x:5.402745004451953, current_pose_y:0.01123449271262292,current_pose_yaw:-0.018765971064567562 +[2026-10-08 18:14:21.790] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.790] [path_visualizer] [debug] current_cmd_angular_z:-0.000267851367472878 +[2026-10-08 18:14:21.839] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.839] [path_visualizer] [debug] current_pose_x:5.402745004451953, current_pose_y:0.01123449271262292,current_pose_yaw:-0.018765971064567562 +[2026-10-08 18:14:21.839] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.839] [path_visualizer] [debug] current_cmd_angular_z:-0.000267851367472878 +[2026-10-08 18:14:21.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.890] [path_visualizer] [debug] current_pose_x:5.428017493189866, current_pose_y:0.011235642446527212,current_pose_yaw:-0.018773008137941364 +[2026-10-08 18:14:21.890] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.890] [path_visualizer] [debug] current_cmd_angular_z:-0.00026010436968575135 +[2026-10-08 18:14:21.939] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.939] [path_visualizer] [debug] current_pose_x:5.428017493189866, current_pose_y:0.011235642446527212,current_pose_yaw:-0.018773008137941364 +[2026-10-08 18:14:21.939] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.939] [path_visualizer] [debug] current_cmd_angular_z:-0.00026010436968575135 +[2026-10-08 18:14:21.987] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:21.987] [path_visualizer] [debug] current_pose_x:5.4532903448259145, current_pose_y:0.011236693348053313,current_pose_yaw:-0.018780047073960304 +[2026-10-08 18:14:21.987] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:21.987] [path_visualizer] [debug] current_cmd_angular_z:-0.00025210129338970946 +[2026-10-08 18:14:22.036] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.036] [path_visualizer] [debug] current_pose_x:5.4532903448259145, current_pose_y:0.011236693348053313,current_pose_yaw:-0.018780047073960304 +[2026-10-08 18:14:22.036] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.036] [path_visualizer] [debug] current_cmd_angular_z:-0.00025210129338970946 +[2026-10-08 18:14:22.091] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.091] [path_visualizer] [debug] current_pose_x:5.4532903448259145, current_pose_y:0.011236693348053313,current_pose_yaw:-0.018780047073960304 +[2026-10-08 18:14:22.091] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.091] [path_visualizer] [debug] current_cmd_angular_z:-0.00025210129338970946 +[2026-10-08 18:14:22.133] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.133] [path_visualizer] [debug] current_pose_x:5.478563532636994, current_pose_y:0.01123761052213893,current_pose_yaw:-0.01878708600997925 +[2026-10-08 18:14:22.133] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.133] [path_visualizer] [debug] current_cmd_angular_z:-0.0002437555538064816 +[2026-10-08 18:14:22.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.189] [path_visualizer] [debug] current_pose_x:5.478563532636994, current_pose_y:0.01123761052213893,current_pose_yaw:-0.01878708600997925 +[2026-10-08 18:14:22.189] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.189] [path_visualizer] [debug] current_cmd_angular_z:-0.0002437555538064816 +[2026-10-08 18:14:22.235] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.235] [path_visualizer] [debug] current_pose_x:5.503837018161589, current_pose_y:0.011238365196355954,current_pose_yaw:-0.01879412680864334 +[2026-10-08 18:14:22.235] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.235] [path_visualizer] [debug] current_cmd_angular_z:-0.00023499059409233178 +[2026-10-08 18:14:22.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.289] [path_visualizer] [debug] current_pose_x:5.503837018161589, current_pose_y:0.011238365196355954,current_pose_yaw:-0.01879412680864334 +[2026-10-08 18:14:22.289] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.289] [path_visualizer] [debug] current_cmd_angular_z:-0.00023499059409233178 +[2026-10-08 18:14:22.334] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.334] [path_visualizer] [debug] current_pose_x:5.503837018161589, current_pose_y:0.011238365196355954,current_pose_yaw:-0.01879412680864334 +[2026-10-08 18:14:22.334] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.334] [path_visualizer] [debug] current_cmd_angular_z:-0.00023499059409233178 +[2026-10-08 18:14:22.387] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.388] [path_visualizer] [debug] current_pose_x:5.529110781998188, current_pose_y:0.011238948073232526,current_pose_yaw:-0.018801167607307434 +[2026-10-08 18:14:22.388] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.388] [path_visualizer] [debug] current_cmd_angular_z:-0.00022564693641597897 +[2026-10-08 18:14:22.440] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.441] [path_visualizer] [debug] current_pose_x:5.529110781998188, current_pose_y:0.011238948073232526,current_pose_yaw:-0.018801167607307434 +[2026-10-08 18:14:22.441] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.441] [path_visualizer] [debug] current_cmd_angular_z:-0.00022564693641597897 +[2026-10-08 18:14:22.488] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.488] [path_visualizer] [debug] current_pose_x:5.529110781998188, current_pose_y:0.011238948073232526,current_pose_yaw:-0.018801167607307434 +[2026-10-08 18:14:22.488] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.488] [path_visualizer] [debug] current_cmd_angular_z:-0.00022564693641597897 +[2026-10-08 18:14:22.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.537] [path_visualizer] [debug] current_pose_x:5.554385883512753, current_pose_y:0.011241834558049757,current_pose_yaw:-0.018809288740158085 +[2026-10-08 18:14:22.537] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.537] [path_visualizer] [debug] current_cmd_angular_z:-0.00022070292445890496 +[2026-10-08 18:14:22.587] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.587] [path_visualizer] [debug] current_pose_x:5.554385883512753, current_pose_y:0.011241834558049757,current_pose_yaw:-0.018809288740158085 +[2026-10-08 18:14:22.587] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.587] [path_visualizer] [debug] current_cmd_angular_z:-0.00022070292445890496 +[2026-10-08 18:14:22.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.638] [path_visualizer] [debug] current_pose_x:5.579662681223238, current_pose_y:0.01124803489411111,current_pose_yaw:-0.018818985670804974 +[2026-10-08 18:14:22.638] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.638] [path_visualizer] [debug] current_cmd_angular_z:-0.00022185584791560922 +[2026-10-08 18:14:22.686] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.686] [path_visualizer] [debug] current_pose_x:5.579662681223238, current_pose_y:0.01124803489411111,current_pose_yaw:-0.018818985670804974 +[2026-10-08 18:14:22.686] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.686] [path_visualizer] [debug] current_cmd_angular_z:-0.00022185584791560922 +[2026-10-08 18:14:22.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.738] [path_visualizer] [debug] current_pose_x:5.579662681223238, current_pose_y:0.01124803489411111,current_pose_yaw:-0.018818985670804974 +[2026-10-08 18:14:22.738] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.739] [path_visualizer] [debug] current_cmd_angular_z:-0.00022185584791560922 +[2026-10-08 18:14:22.784] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.784] [path_visualizer] [debug] current_pose_x:5.60494107862149, current_pose_y:0.011257327947231196,current_pose_yaw:-0.01883017085492611 +[2026-10-08 18:14:22.784] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.785] [path_visualizer] [debug] current_cmd_angular_z:-0.00022867209902425675 +[2026-10-08 18:14:22.838] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.838] [path_visualizer] [debug] current_pose_x:5.60494107862149, current_pose_y:0.011257327947231196,current_pose_yaw:-0.01883017085492611 +[2026-10-08 18:14:22.838] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.838] [path_visualizer] [debug] current_cmd_angular_z:-0.00022867209902425675 +[2026-10-08 18:14:22.884] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.884] [path_visualizer] [debug] current_pose_x:5.630219456692193, current_pose_y:0.011266107185625361,current_pose_yaw:-0.01884130947291851 +[2026-10-08 18:14:22.884] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.884] [path_visualizer] [debug] current_cmd_angular_z:-0.00023424250976489952 +[2026-10-08 18:14:22.933] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.933] [path_visualizer] [debug] current_pose_x:5.630219456692193, current_pose_y:0.011266107185625361,current_pose_yaw:-0.01884130947291851 +[2026-10-08 18:14:22.933] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.933] [path_visualizer] [debug] current_cmd_angular_z:-0.00023424250976489952 +[2026-10-08 18:14:22.983] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:22.983] [path_visualizer] [debug] current_pose_x:5.630219456692193, current_pose_y:0.011266107185625361,current_pose_yaw:-0.01884130947291851 +[2026-10-08 18:14:22.983] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:22.983] [path_visualizer] [debug] current_cmd_angular_z:-0.00023424250976489952 +[2026-10-08 18:14:23.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.038] [path_visualizer] [debug] current_pose_x:5.65549791167108, current_pose_y:0.011274539285556258,current_pose_yaw:-0.01885240338742733 +[2026-10-08 18:14:23.038] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.038] [path_visualizer] [debug] current_cmd_angular_z:-0.0002389913411558857 +[2026-10-08 18:14:23.091] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.091] [path_visualizer] [debug] current_pose_x:5.65549791167108, current_pose_y:0.011274539285556258,current_pose_yaw:-0.01885240338742733 +[2026-10-08 18:14:23.091] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.091] [path_visualizer] [debug] current_cmd_angular_z:-0.0002389913411558857 +[2026-10-08 18:14:23.136] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.136] [path_visualizer] [debug] current_pose_x:5.65549791167108, current_pose_y:0.011274539285556258,current_pose_yaw:-0.01885240338742733 +[2026-10-08 18:14:23.136] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.136] [path_visualizer] [debug] current_cmd_angular_z:-0.0002389913411558857 +[2026-10-08 18:14:23.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.189] [path_visualizer] [debug] current_pose_x:5.68077648925342, current_pose_y:0.011282693683342873,current_pose_yaw:-0.01886345073580742 +[2026-10-08 18:14:23.189] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.189] [path_visualizer] [debug] current_cmd_angular_z:-0.000243099347223448 +[2026-10-08 18:14:23.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.238] [path_visualizer] [debug] current_pose_x:5.68077648925342, current_pose_y:0.011282693683342873,current_pose_yaw:-0.01886345073580742 +[2026-10-08 18:14:23.238] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.238] [path_visualizer] [debug] current_cmd_angular_z:-0.000243099347223448 +[2026-10-08 18:14:23.283] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.283] [path_visualizer] [debug] current_pose_x:5.706055201547763, current_pose_y:0.01129060129020671,current_pose_yaw:-0.018874453380703926 +[2026-10-08 18:14:23.283] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.283] [path_visualizer] [debug] current_cmd_angular_z:-0.00024664290454939897 +[2026-10-08 18:14:23.341] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.341] [path_visualizer] [debug] current_pose_x:5.706055201547763, current_pose_y:0.01129060129020671,current_pose_yaw:-0.018874453380703926 +[2026-10-08 18:14:23.341] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.341] [path_visualizer] [debug] current_cmd_angular_z:-0.00024664290454939897 +[2026-10-08 18:14:23.386] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.386] [path_visualizer] [debug] current_pose_x:5.706055201547763, current_pose_y:0.01129060129020671,current_pose_yaw:-0.018874453380703926 +[2026-10-08 18:14:23.386] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.386] [path_visualizer] [debug] current_cmd_angular_z:-0.00024664290454939897 +[2026-10-08 18:14:23.440] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.440] [path_visualizer] [debug] current_pose_x:5.7313340514203635, current_pose_y:0.011298274169297486,current_pose_yaw:-0.018885407596826553 +[2026-10-08 18:14:23.440] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.440] [path_visualizer] [debug] current_cmd_angular_z:-0.00024952010012797843 +[2026-10-08 18:14:23.485] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.485] [path_visualizer] [debug] current_pose_x:5.7313340514203635, current_pose_y:0.011298274169297486,current_pose_yaw:-0.018885407596826553 +[2026-10-08 18:14:23.485] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.485] [path_visualizer] [debug] current_cmd_angular_z:-0.00024952010012797843 +[2026-10-08 18:14:23.540] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.540] [path_visualizer] [debug] current_pose_x:5.7566130412597705, current_pose_y:0.011305719966687566,current_pose_yaw:-0.0188963133841753 +[2026-10-08 18:14:23.540] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.540] [path_visualizer] [debug] current_cmd_angular_z:-0.0002520274949337521 +[2026-10-08 18:14:23.589] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.589] [path_visualizer] [debug] current_pose_x:5.7566130412597705, current_pose_y:0.011305719966687566,current_pose_yaw:-0.0188963133841753 +[2026-10-08 18:14:23.590] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.590] [path_visualizer] [debug] current_cmd_angular_z:-0.0002520274949337521 +[2026-10-08 18:14:23.639] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.639] [path_visualizer] [debug] current_pose_x:5.7566130412597705, current_pose_y:0.011305719966687566,current_pose_yaw:-0.0188963133841753 +[2026-10-08 18:14:23.639] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.639] [path_visualizer] [debug] current_cmd_angular_z:-0.0002520274949337521 +[2026-10-08 18:14:23.688] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.688] [path_visualizer] [debug] current_pose_x:5.781892174575768, current_pose_y:0.011312943030358373,current_pose_yaw:-0.018907170742750168 +[2026-10-08 18:14:23.688] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.688] [path_visualizer] [debug] current_cmd_angular_z:-0.0002540377459006732 +[2026-10-08 18:14:23.733] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.733] [path_visualizer] [debug] current_pose_x:5.781892174575768, current_pose_y:0.011312943030358373,current_pose_yaw:-0.018907170742750168 +[2026-10-08 18:14:23.733] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.733] [path_visualizer] [debug] current_cmd_angular_z:-0.0002540377459006732 +[2026-10-08 18:14:23.784] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.784] [path_visualizer] [debug] current_pose_x:5.781892174575768, current_pose_y:0.011312943030358373,current_pose_yaw:-0.018907170742750168 +[2026-10-08 18:14:23.784] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.784] [path_visualizer] [debug] current_cmd_angular_z:-0.0002540377459006732 +[2026-10-08 18:14:23.838] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.838] [path_visualizer] [debug] current_pose_x:5.807171436909752, current_pose_y:0.01131994644785323,current_pose_yaw:-0.01891797780990601 +[2026-10-08 18:14:23.838] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.838] [path_visualizer] [debug] current_cmd_angular_z:-0.0002555615949057337 +[2026-10-08 18:14:23.887] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.887] [path_visualizer] [debug] current_pose_x:5.807171436909752, current_pose_y:0.01131994644785323,current_pose_yaw:-0.01891797780990601 +[2026-10-08 18:14:23.887] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.887] [path_visualizer] [debug] current_cmd_angular_z:-0.0002555615949057337 +[2026-10-08 18:14:23.936] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.936] [path_visualizer] [debug] current_pose_x:5.832450838479177, current_pose_y:0.011326734735632345,current_pose_yaw:-0.01892873458564281 +[2026-10-08 18:14:23.936] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.936] [path_visualizer] [debug] current_cmd_angular_z:-0.00025661061492976076 +[2026-10-08 18:14:23.983] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:23.983] [path_visualizer] [debug] current_pose_x:5.832450838479177, current_pose_y:0.011326734735632345,current_pose_yaw:-0.01892873458564281 +[2026-10-08 18:14:23.983] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:23.983] [path_visualizer] [debug] current_cmd_angular_z:-0.00025661061492976076 +[2026-10-08 18:14:24.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.038] [path_visualizer] [debug] current_pose_x:5.832450838479177, current_pose_y:0.011326734735632345,current_pose_yaw:-0.01892873458564281 +[2026-10-08 18:14:24.038] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.039] [path_visualizer] [debug] current_cmd_angular_z:-0.00025661061492976076 +[2026-10-08 18:14:24.089] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.089] [path_visualizer] [debug] current_pose_x:5.8577303670679095, current_pose_y:0.011333306791608369,current_pose_yaw:-0.018939437344670296 +[2026-10-08 18:14:24.089] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.089] [path_visualizer] [debug] current_cmd_angular_z:-0.00025718764269097236 +[2026-10-08 18:14:24.136] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.136] [path_visualizer] [debug] current_pose_x:5.8577303670679095, current_pose_y:0.011333306791608369,current_pose_yaw:-0.018939437344670296 +[2026-10-08 18:14:24.136] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.136] [path_visualizer] [debug] current_cmd_angular_z:-0.00025718764269097236 +[2026-10-08 18:14:24.184] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.184] [path_visualizer] [debug] current_pose_x:5.883010029217804, current_pose_y:0.011339667696849647,current_pose_yaw:-0.0189500879496336 +[2026-10-08 18:14:24.184] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.184] [path_visualizer] [debug] current_cmd_angular_z:-0.0002573028675686498 +[2026-10-08 18:14:24.237] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.237] [path_visualizer] [debug] current_pose_x:5.883010029217804, current_pose_y:0.011339667696849647,current_pose_yaw:-0.0189500879496336 +[2026-10-08 18:14:24.237] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.237] [path_visualizer] [debug] current_cmd_angular_z:-0.0002573028675686498 +[2026-10-08 18:14:24.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.289] [path_visualizer] [debug] current_pose_x:5.883010029217804, current_pose_y:0.011339667696849647,current_pose_yaw:-0.0189500879496336 +[2026-10-08 18:14:24.289] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.289] [path_visualizer] [debug] current_cmd_angular_z:-0.0002573028675686498 +[2026-10-08 18:14:24.343] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.343] [path_visualizer] [debug] current_pose_x:5.908289818065245, current_pose_y:0.01134581863442563,current_pose_yaw:-0.018960684537887573 +[2026-10-08 18:14:24.343] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.343] [path_visualizer] [debug] current_cmd_angular_z:-0.000256962151414606 +[2026-10-08 18:14:24.386] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.386] [path_visualizer] [debug] current_pose_x:5.908289818065245, current_pose_y:0.01134581863442563,current_pose_yaw:-0.018960684537887573 +[2026-10-08 18:14:24.386] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.386] [path_visualizer] [debug] current_cmd_angular_z:-0.000256962151414606 +[2026-10-08 18:14:24.434] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.434] [path_visualizer] [debug] current_pose_x:5.908289818065245, current_pose_y:0.01134581863442563,current_pose_yaw:-0.018960684537887573 +[2026-10-08 18:14:24.434] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.434] [path_visualizer] [debug] current_cmd_angular_z:-0.000256962151414606 +[2026-10-08 18:14:24.489] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.489] [path_visualizer] [debug] current_pose_x:5.933569729125293, current_pose_y:0.01135176357158445,current_pose_yaw:-0.01897122524678707 +[2026-10-08 18:14:24.489] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.489] [path_visualizer] [debug] current_cmd_angular_z:-0.00025604000592537035 +[2026-10-08 18:14:24.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.538] [path_visualizer] [debug] current_pose_x:5.933569729125293, current_pose_y:0.01135176357158445,current_pose_yaw:-0.01897122524678707 +[2026-10-08 18:14:24.538] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.538] [path_visualizer] [debug] current_cmd_angular_z:-0.00025604000592537035 +[2026-10-08 18:14:24.590] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.590] [path_visualizer] [debug] current_pose_x:5.958849764240682, current_pose_y:0.011357503253146342,current_pose_yaw:-0.01898171193897724 +[2026-10-08 18:14:24.590] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.590] [path_visualizer] [debug] current_cmd_angular_z:-0.00025481247794838235 +[2026-10-08 18:14:24.637] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.637] [path_visualizer] [debug] current_pose_x:5.958849764240682, current_pose_y:0.011357503253146342,current_pose_yaw:-0.01898171193897724 +[2026-10-08 18:14:24.637] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.637] [path_visualizer] [debug] current_cmd_angular_z:-0.00025481247794838235 +[2026-10-08 18:14:24.684] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.684] [path_visualizer] [debug] current_pose_x:5.958849764240682, current_pose_y:0.011357503253146342,current_pose_yaw:-0.01898171193897724 +[2026-10-08 18:14:24.684] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.684] [path_visualizer] [debug] current_cmd_angular_z:-0.00025481247794838235 +[2026-10-08 18:14:24.737] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.737] [path_visualizer] [debug] current_pose_x:5.984129919336079, current_pose_y:0.01136304157380199,current_pose_yaw:-0.018992139026522636 +[2026-10-08 18:14:24.737] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.737] [path_visualizer] [debug] current_cmd_angular_z:-0.0002531595539665629 +[2026-10-08 18:14:24.790] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.790] [path_visualizer] [debug] current_pose_x:5.984129919336079, current_pose_y:0.01136304157380199,current_pose_yaw:-0.018992139026522636 +[2026-10-08 18:14:24.790] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.790] [path_visualizer] [debug] current_cmd_angular_z:-0.0002531595539665629 +[2026-10-08 18:14:24.836] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.836] [path_visualizer] [debug] current_pose_x:6.009410188337469, current_pose_y:0.011368380227325446,current_pose_yaw:-0.019002510234713554 +[2026-10-08 18:14:24.836] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.836] [path_visualizer] [debug] current_cmd_angular_z:-0.0002510799134000895 +[2026-10-08 18:14:24.887] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.887] [path_visualizer] [debug] current_pose_x:6.009410188337469, current_pose_y:0.011368380227325446,current_pose_yaw:-0.019002510234713554 +[2026-10-08 18:14:24.887] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.887] [path_visualizer] [debug] current_cmd_angular_z:-0.0002510799134000895 +[2026-10-08 18:14:24.936] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.936] [path_visualizer] [debug] current_pose_x:6.009410188337469, current_pose_y:0.011368380227325446,current_pose_yaw:-0.019002510234713554 +[2026-10-08 18:14:24.936] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.936] [path_visualizer] [debug] current_cmd_angular_z:-0.0002510799134000895 +[2026-10-08 18:14:24.989] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:24.989] [path_visualizer] [debug] current_pose_x:6.034690575154372, current_pose_y:0.011373521835984172,current_pose_yaw:-0.019012819975614548 +[2026-10-08 18:14:24.989] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:24.989] [path_visualizer] [debug] current_cmd_angular_z:-0.0002485887666104081 +[2026-10-08 18:14:25.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.038] [path_visualizer] [debug] current_pose_x:6.034690575154372, current_pose_y:0.011373521835984172,current_pose_yaw:-0.019012819975614548 +[2026-10-08 18:14:25.038] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:25.038] [path_visualizer] [debug] current_cmd_angular_z:-0.0002485887666104081 +[2026-10-08 18:14:25.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.087] [path_visualizer] [debug] current_pose_x:6.059971070358939, current_pose_y:0.011378470415864816,current_pose_yaw:-0.019023071974515915 +[2026-10-08 18:14:25.087] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:25.087] [path_visualizer] [debug] current_cmd_angular_z:-0.0002456907437131152 +[2026-10-08 18:14:25.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.138] [path_visualizer] [debug] current_pose_x:6.059971070358939, current_pose_y:0.011378470415864816,current_pose_yaw:-0.019023071974515915 +[2026-10-08 18:14:25.138] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:25.138] [path_visualizer] [debug] current_cmd_angular_z:-0.0002456907437131152 +[2026-10-08 18:14:25.185] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.185] [path_visualizer] [debug] current_pose_x:6.059971070358939, current_pose_y:0.011378470415864816,current_pose_yaw:-0.019023071974515915 +[2026-10-08 18:14:25.185] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-08 18:14:25.185] [path_visualizer] [debug] current_cmd_angular_z:-0.0002456907437131152 +[2026-10-08 18:14:25.235] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.235] [path_visualizer] [debug] current_pose_x:6.085251676349585, current_pose_y:0.01138322724435423,current_pose_yaw:-0.019033262506127354 +[2026-10-08 18:14:25.235] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.235] [path_visualizer] [debug] current_cmd_angular_z:0.2080593352280605 +[2026-10-08 18:14:25.287] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.287] [path_visualizer] [debug] current_pose_x:6.085251676349585, current_pose_y:0.01138322724435423,current_pose_yaw:-0.019033262506127354 +[2026-10-08 18:14:25.287] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.287] [path_visualizer] [debug] current_cmd_angular_z:0.2080593352280605 +[2026-10-08 18:14:25.337] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.337] [path_visualizer] [debug] current_pose_x:6.085251676349585, current_pose_y:0.01138322724435423,current_pose_yaw:-0.019033262506127354 +[2026-10-08 18:14:25.337] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.337] [path_visualizer] [debug] current_cmd_angular_z:0.2080593352280605 +[2026-10-08 18:14:25.383] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.383] [path_visualizer] [debug] current_pose_x:6.110532389450714, current_pose_y:0.011387792083877038,current_pose_yaw:-0.019043391570448872 +[2026-10-08 18:14:25.383] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.383] [path_visualizer] [debug] current_cmd_angular_z:0.21587139883220927 +[2026-10-08 18:14:25.432] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.432] [path_visualizer] [debug] current_pose_x:6.110532389450714, current_pose_y:0.011387792083877038,current_pose_yaw:-0.019043391570448872 +[2026-10-08 18:14:25.432] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.432] [path_visualizer] [debug] current_cmd_angular_z:0.21587139883220927 +[2026-10-08 18:14:25.487] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.487] [path_visualizer] [debug] current_pose_x:6.135795857414962, current_pose_y:0.017167740460695018,current_pose_yaw:-0.013919704593718052 +[2026-10-08 18:14:25.487] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.487] [path_visualizer] [debug] current_cmd_angular_z:0.20118617817565634 +[2026-10-08 18:14:25.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.537] [path_visualizer] [debug] current_pose_x:6.135795857414962, current_pose_y:0.017167740460695018,current_pose_yaw:-0.013919704593718052 +[2026-10-08 18:14:25.537] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.538] [path_visualizer] [debug] current_cmd_angular_z:0.20118617817565634 +[2026-10-08 18:14:25.585] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.585] [path_visualizer] [debug] current_pose_x:6.135795857414962, current_pose_y:0.017167740460695018,current_pose_yaw:-0.013919704593718052 +[2026-10-08 18:14:25.585] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.585] [path_visualizer] [debug] current_cmd_angular_z:0.20118617817565634 +[2026-10-08 18:14:25.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.638] [path_visualizer] [debug] current_pose_x:6.1610042965824485, current_pose_y:0.025398086936941976,current_pose_yaw:-0.006779618561267852 +[2026-10-08 18:14:25.638] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.638] [path_visualizer] [debug] current_cmd_angular_z:0.1771868513905395 +[2026-10-08 18:14:25.684] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.684] [path_visualizer] [debug] current_pose_x:6.1610042965824485, current_pose_y:0.025398086936941976,current_pose_yaw:-0.006779618561267852 +[2026-10-08 18:14:25.684] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.684] [path_visualizer] [debug] current_cmd_angular_z:0.1771868513905395 +[2026-10-08 18:14:25.742] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.742] [path_visualizer] [debug] current_pose_x:6.1610042965824485, current_pose_y:0.025398086936941976,current_pose_yaw:-0.006779618561267852 +[2026-10-08 18:14:25.742] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.742] [path_visualizer] [debug] current_cmd_angular_z:0.1771868513905395 +[2026-10-08 18:14:25.788] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.788] [path_visualizer] [debug] current_pose_x:6.186163997353598, current_pose_y:0.03339845616039509,current_pose_yaw:-9.387831596541217e-06 +[2026-10-08 18:14:25.788] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.788] [path_visualizer] [debug] current_cmd_angular_z:0.15431947630662868 +[2026-10-08 18:14:25.839] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.839] [path_visualizer] [debug] current_pose_x:6.186163997353598, current_pose_y:0.03339845616039509,current_pose_yaw:-9.387831596541217e-06 +[2026-10-08 18:14:25.839] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.839] [path_visualizer] [debug] current_cmd_angular_z:0.15431947630662868 +[2026-10-08 18:14:25.887] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.887] [path_visualizer] [debug] current_pose_x:6.211293646502269, current_pose_y:0.0406628346559675,current_pose_yaw:0.005954928696155548 +[2026-10-08 18:14:25.887] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.887] [path_visualizer] [debug] current_cmd_angular_z:0.13453958672548824 +[2026-10-08 18:14:25.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.938] [path_visualizer] [debug] current_pose_x:6.211293646502269, current_pose_y:0.0406628346559675,current_pose_yaw:0.005954928696155548 +[2026-10-08 18:14:25.938] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.938] [path_visualizer] [debug] current_cmd_angular_z:0.13453958672548824 +[2026-10-08 18:14:25.983] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:25.983] [path_visualizer] [debug] current_pose_x:6.211293646502269, current_pose_y:0.0406628346559675,current_pose_yaw:0.005954928696155548 +[2026-10-08 18:14:25.983] [path_visualizer] [debug] current_path_x:6.148988249897961, current_path_y:0.017365577145989096,current_path_yaw:0.1208304865 +[2026-10-08 18:14:25.983] [path_visualizer] [debug] current_cmd_angular_z:0.13453958672548824 +[2026-10-08 18:14:26.037] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.037] [path_visualizer] [debug] current_pose_x:6.23640002396269, current_pose_y:0.047424095520578795,current_pose_yaw:0.011340294964611529 +[2026-10-08 18:14:26.037] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.037] [path_visualizer] [debug] current_cmd_angular_z:0.2838700307168507 +[2026-10-08 18:14:26.083] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.083] [path_visualizer] [debug] current_pose_x:6.23640002396269, current_pose_y:0.047424095520578795,current_pose_yaw:0.011340294964611529 +[2026-10-08 18:14:26.083] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.084] [path_visualizer] [debug] current_cmd_angular_z:0.2838700307168507 +[2026-10-08 18:14:26.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.138] [path_visualizer] [debug] current_pose_x:6.261504088526012, current_pose_y:0.05334708885640787,current_pose_yaw:0.015867669135332108 +[2026-10-08 18:14:26.138] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.138] [path_visualizer] [debug] current_cmd_angular_z:0.2776488453621576 +[2026-10-08 18:14:26.188] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.188] [path_visualizer] [debug] current_pose_x:6.261504088526012, current_pose_y:0.05334708885640787,current_pose_yaw:0.015867669135332108 +[2026-10-08 18:14:26.188] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.189] [path_visualizer] [debug] current_cmd_angular_z:0.2776488453621576 +[2026-10-08 18:14:26.233] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.233] [path_visualizer] [debug] current_pose_x:6.261504088526012, current_pose_y:0.05334708885640787,current_pose_yaw:0.015867669135332108 +[2026-10-08 18:14:26.233] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.233] [path_visualizer] [debug] current_cmd_angular_z:0.2776488453621576 +[2026-10-08 18:14:26.290] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.290] [path_visualizer] [debug] current_pose_x:6.286383160914582, current_pose_y:0.06410830849706337,current_pose_yaw:0.024597415700554848 +[2026-10-08 18:14:26.290] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.290] [path_visualizer] [debug] current_cmd_angular_z:0.252866812898953 +[2026-10-08 18:14:26.333] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.333] [path_visualizer] [debug] current_pose_x:6.286383160914582, current_pose_y:0.06410830849706337,current_pose_yaw:0.024597415700554848 +[2026-10-08 18:14:26.333] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.333] [path_visualizer] [debug] current_cmd_angular_z:0.252866812898953 +[2026-10-08 18:14:26.388] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.388] [path_visualizer] [debug] current_pose_x:6.286383160914582, current_pose_y:0.06410830849706337,current_pose_yaw:0.024597415700554848 +[2026-10-08 18:14:26.388] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.388] [path_visualizer] [debug] current_cmd_angular_z:0.252866812898953 +[2026-10-08 18:14:26.441] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.441] [path_visualizer] [debug] current_pose_x:6.311130331310545, current_pose_y:0.07580515968451013,current_pose_yaw:0.03394051268696785 +[2026-10-08 18:14:26.441] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.441] [path_visualizer] [debug] current_cmd_angular_z:0.22474409092320657 +[2026-10-08 18:14:26.488] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.488] [path_visualizer] [debug] current_pose_x:6.311130331310545, current_pose_y:0.07580515968451013,current_pose_yaw:0.03394051268696785 +[2026-10-08 18:14:26.488] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.488] [path_visualizer] [debug] current_cmd_angular_z:0.22474409092320657 +[2026-10-08 18:14:26.533] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.533] [path_visualizer] [debug] current_pose_x:6.335826440844204, current_pose_y:0.08679963220973543,current_pose_yaw:0.04245084151625633 +[2026-10-08 18:14:26.533] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.534] [path_visualizer] [debug] current_cmd_angular_z:0.1996029547014322 +[2026-10-08 18:14:26.584] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.584] [path_visualizer] [debug] current_pose_x:6.335826440844204, current_pose_y:0.08679963220973543,current_pose_yaw:0.04245084151625633 +[2026-10-08 18:14:26.584] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.584] [path_visualizer] [debug] current_cmd_angular_z:0.1996029547014322 +[2026-10-08 18:14:26.633] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.633] [path_visualizer] [debug] current_pose_x:6.335826440844204, current_pose_y:0.08679963220973543,current_pose_yaw:0.04245084151625633 +[2026-10-08 18:14:26.633] [path_visualizer] [debug] current_path_x:6.2927037976163, current_path_y:0.03472947890434801,current_path_yaw:0.241660973 +[2026-10-08 18:14:26.633] [path_visualizer] [debug] current_cmd_angular_z:0.1996029547014322 +[2026-10-08 18:14:26.685] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.686] [path_visualizer] [debug] current_pose_x:6.360485844213047, current_pose_y:0.09720695058743214,current_pose_yaw:0.050251878798007965 +[2026-10-08 18:14:26.686] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:26.686] [path_visualizer] [debug] current_cmd_angular_z:0.3857504765097679 +[2026-10-08 18:14:26.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.738] [path_visualizer] [debug] current_pose_x:6.360485844213047, current_pose_y:0.09720695058743214,current_pose_yaw:0.050251878798007965 +[2026-10-08 18:14:26.738] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:26.738] [path_visualizer] [debug] current_cmd_angular_z:0.3857504765097679 +[2026-10-08 18:14:26.784] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.784] [path_visualizer] [debug] current_pose_x:6.385155723388101, current_pose_y:0.10658102435446096,current_pose_yaw:0.056969903409481056 +[2026-10-08 18:14:26.784] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:26.784] [path_visualizer] [debug] current_cmd_angular_z:0.37549902507331623 +[2026-10-08 18:14:26.837] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.837] [path_visualizer] [debug] current_pose_x:6.385155723388101, current_pose_y:0.10658102435446096,current_pose_yaw:0.056969903409481056 +[2026-10-08 18:14:26.837] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:26.837] [path_visualizer] [debug] current_cmd_angular_z:0.37549902507331623 +[2026-10-08 18:14:26.885] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.885] [path_visualizer] [debug] current_pose_x:6.385155723388101, current_pose_y:0.10658102435446096,current_pose_yaw:0.056969903409481056 +[2026-10-08 18:14:26.885] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:26.885] [path_visualizer] [debug] current_cmd_angular_z:0.37549902507331623 +[2026-10-08 18:14:26.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.938] [path_visualizer] [debug] current_pose_x:6.409310143827437, current_pose_y:0.12142626153067566,current_pose_yaw:0.06842336058616638 +[2026-10-08 18:14:26.938] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:26.938] [path_visualizer] [debug] current_cmd_angular_z:0.3444752681733667 +[2026-10-08 18:14:26.983] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:26.983] [path_visualizer] [debug] current_pose_x:6.409310143827437, current_pose_y:0.12142626153067566,current_pose_yaw:0.06842336058616638 +[2026-10-08 18:14:26.983] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:26.983] [path_visualizer] [debug] current_cmd_angular_z:0.3444752681733667 +[2026-10-08 18:14:27.037] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.037] [path_visualizer] [debug] current_pose_x:6.409310143827437, current_pose_y:0.12142626153067566,current_pose_yaw:0.06842336058616638 +[2026-10-08 18:14:27.037] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:27.037] [path_visualizer] [debug] current_cmd_angular_z:0.3444752681733667 +[2026-10-08 18:14:27.084] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.084] [path_visualizer] [debug] current_pose_x:6.4331562516313445, current_pose_y:0.13791189168340623,current_pose_yaw:0.08106148988008499 +[2026-10-08 18:14:27.084] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:27.084] [path_visualizer] [debug] current_cmd_angular_z:0.3074410208021857 +[2026-10-08 18:14:27.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.138] [path_visualizer] [debug] current_pose_x:6.4331562516313445, current_pose_y:0.13791189168340623,current_pose_yaw:0.08106148988008499 +[2026-10-08 18:14:27.138] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:27.138] [path_visualizer] [debug] current_cmd_angular_z:0.3074410208021857 +[2026-10-08 18:14:27.191] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.191] [path_visualizer] [debug] current_pose_x:6.456924291219408, current_pose_y:0.15353540998155443,current_pose_yaw:0.09265688061714172 +[2026-10-08 18:14:27.191] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:27.191] [path_visualizer] [debug] current_cmd_angular_z:0.2739858368588516 +[2026-10-08 18:14:27.234] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.234] [path_visualizer] [debug] current_pose_x:6.456924291219408, current_pose_y:0.15353540998155443,current_pose_yaw:0.09265688061714172 +[2026-10-08 18:14:27.234] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:27.234] [path_visualizer] [debug] current_cmd_angular_z:0.2739858368588516 +[2026-10-08 18:14:27.286] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.286] [path_visualizer] [debug] current_pose_x:6.456924291219408, current_pose_y:0.15353540998155443,current_pose_yaw:0.09265688061714172 +[2026-10-08 18:14:27.286] [path_visualizer] [debug] current_path_x:6.428067138565412, current_path_y:0.0858118653681654,current_path_yaw:0.36249146 +[2026-10-08 18:14:27.286] [path_visualizer] [debug] current_cmd_angular_z:0.2739858368588516 +[2026-10-08 18:14:27.335] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.335] [path_visualizer] [debug] current_pose_x:6.480639060351919, current_pose_y:0.16838943693608655,current_pose_yaw:0.10331800580024719 +[2026-10-08 18:14:27.335] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.335] [path_visualizer] [debug] current_cmd_angular_z:0.4073813421838829 +[2026-10-08 18:14:27.388] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.388] [path_visualizer] [debug] current_pose_x:6.480639060351919, current_pose_y:0.16838943693608655,current_pose_yaw:0.10331800580024719 +[2026-10-08 18:14:27.388] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.388] [path_visualizer] [debug] current_cmd_angular_z:0.4073813421838829 +[2026-10-08 18:14:27.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.438] [path_visualizer] [debug] current_pose_x:6.50440930222576, current_pose_y:0.18187729910256695,current_pose_yaw:0.11254018545150757 +[2026-10-08 18:14:27.438] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.438] [path_visualizer] [debug] current_cmd_angular_z:0.39107117280621206 +[2026-10-08 18:14:27.488] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.488] [path_visualizer] [debug] current_pose_x:6.50440930222576, current_pose_y:0.18187729910256695,current_pose_yaw:0.11254018545150757 +[2026-10-08 18:14:27.488] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.488] [path_visualizer] [debug] current_cmd_angular_z:0.39107117280621206 +[2026-10-08 18:14:27.540] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.540] [path_visualizer] [debug] current_pose_x:6.50440930222576, current_pose_y:0.18187729910256695,current_pose_yaw:0.11254018545150757 +[2026-10-08 18:14:27.540] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.540] [path_visualizer] [debug] current_cmd_angular_z:0.39107117280621206 +[2026-10-08 18:14:27.589] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.589] [path_visualizer] [debug] current_pose_x:6.527426665235117, current_pose_y:0.19995882845647225,current_pose_yaw:0.12569166719913485 +[2026-10-08 18:14:27.589] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.590] [path_visualizer] [debug] current_cmd_angular_z:0.3574712194081348 +[2026-10-08 18:14:27.640] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.640] [path_visualizer] [debug] current_pose_x:6.527426665235117, current_pose_y:0.19995882845647225,current_pose_yaw:0.12569166719913485 +[2026-10-08 18:14:27.640] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.640] [path_visualizer] [debug] current_cmd_angular_z:0.3574712194081348 +[2026-10-08 18:14:27.688] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.688] [path_visualizer] [debug] current_pose_x:6.550197843143975, current_pose_y:0.2183765226523888,current_pose_yaw:0.1388542652130127 +[2026-10-08 18:14:27.688] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.688] [path_visualizer] [debug] current_cmd_angular_z:0.3227984934178728 +[2026-10-08 18:14:27.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.739] [path_visualizer] [debug] current_pose_x:6.550197843143975, current_pose_y:0.2183765226523888,current_pose_yaw:0.1388542652130127 +[2026-10-08 18:14:27.739] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.739] [path_visualizer] [debug] current_cmd_angular_z:0.3227984934178728 +[2026-10-08 18:14:27.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.789] [path_visualizer] [debug] current_pose_x:6.550197843143975, current_pose_y:0.2183765226523888,current_pose_yaw:0.1388542652130127 +[2026-10-08 18:14:27.789] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.789] [path_visualizer] [debug] current_cmd_angular_z:0.3227984934178728 +[2026-10-08 18:14:27.840] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.840] [path_visualizer] [debug] current_pose_x:6.572993361791582, current_pose_y:0.23552354051492105,current_pose_yaw:0.15059691667556765 +[2026-10-08 18:14:27.840] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.840] [path_visualizer] [debug] current_cmd_angular_z:0.29319543933559156 +[2026-10-08 18:14:27.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.889] [path_visualizer] [debug] current_pose_x:6.572993361791582, current_pose_y:0.23552354051492105,current_pose_yaw:0.15059691667556765 +[2026-10-08 18:14:27.889] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.889] [path_visualizer] [debug] current_cmd_angular_z:0.29319543933559156 +[2026-10-08 18:14:27.936] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.936] [path_visualizer] [debug] current_pose_x:6.572993361791582, current_pose_y:0.23552354051492105,current_pose_yaw:0.15059691667556765 +[2026-10-08 18:14:27.936] [path_visualizer] [debug] current_path_x:6.563430479514525, current_path_y:0.13689425183198278,current_path_yaw:0.483321947 +[2026-10-08 18:14:27.936] [path_visualizer] [debug] current_cmd_angular_z:0.29319543933559156 +[2026-10-08 18:14:27.985] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:27.985] [path_visualizer] [debug] current_pose_x:6.595767719129755, current_pose_y:0.25194943197978187,current_pose_yaw:0.16146278381347656 +[2026-10-08 18:14:27.985] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:27.985] [path_visualizer] [debug] current_cmd_angular_z:0.47626408201018855 +[2026-10-08 18:14:28.035] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.035] [path_visualizer] [debug] current_pose_x:6.595767719129755, current_pose_y:0.25194943197978187,current_pose_yaw:0.16146278381347656 +[2026-10-08 18:14:28.035] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.035] [path_visualizer] [debug] current_cmd_angular_z:0.47626408201018855 +[2026-10-08 18:14:28.092] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.092] [path_visualizer] [debug] current_pose_x:6.618576825468022, current_pose_y:0.26751238731594584,current_pose_yaw:0.17133201658725739 +[2026-10-08 18:14:28.092] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.092] [path_visualizer] [debug] current_cmd_angular_z:0.46164920808772947 +[2026-10-08 18:14:28.135] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.135] [path_visualizer] [debug] current_pose_x:6.618576825468022, current_pose_y:0.26751238731594584,current_pose_yaw:0.17133201658725739 +[2026-10-08 18:14:28.135] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.135] [path_visualizer] [debug] current_cmd_angular_z:0.46164920808772947 +[2026-10-08 18:14:28.184] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.184] [path_visualizer] [debug] current_pose_x:6.618576825468022, current_pose_y:0.26751238731594584,current_pose_yaw:0.17133201658725739 +[2026-10-08 18:14:28.184] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.185] [path_visualizer] [debug] current_cmd_angular_z:0.46164920808772947 +[2026-10-08 18:14:28.241] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.241] [path_visualizer] [debug] current_pose_x:6.640152887910155, current_pose_y:0.2885566669054945,current_pose_yaw:0.18597193062305453 +[2026-10-08 18:14:28.241] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.241] [path_visualizer] [debug] current_cmd_angular_z:0.426431192615797 +[2026-10-08 18:14:28.291] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.291] [path_visualizer] [debug] current_pose_x:6.640152887910155, current_pose_y:0.2885566669054945,current_pose_yaw:0.18597193062305453 +[2026-10-08 18:14:28.291] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.291] [path_visualizer] [debug] current_cmd_angular_z:0.426431192615797 +[2026-10-08 18:14:28.339] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.339] [path_visualizer] [debug] current_pose_x:6.640152887910155, current_pose_y:0.2885566669054945,current_pose_yaw:0.18597193062305453 +[2026-10-08 18:14:28.339] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.339] [path_visualizer] [debug] current_cmd_angular_z:0.426431192615797 +[2026-10-08 18:14:28.391] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.391] [path_visualizer] [debug] current_pose_x:6.6611921819828455, current_pose_y:0.31093605612966047,current_pose_yaw:0.20151259005069733 +[2026-10-08 18:14:28.391] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.391] [path_visualizer] [debug] current_cmd_angular_z:0.3862476397105253 +[2026-10-08 18:14:28.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.438] [path_visualizer] [debug] current_pose_x:6.6611921819828455, current_pose_y:0.31093605612966047,current_pose_yaw:0.20151259005069733 +[2026-10-08 18:14:28.438] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.438] [path_visualizer] [debug] current_cmd_angular_z:0.3862476397105253 +[2026-10-08 18:14:28.485] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.485] [path_visualizer] [debug] current_pose_x:6.682195188735262, current_pose_y:0.33234064567349164,current_pose_yaw:0.21586887538433078 +[2026-10-08 18:14:28.485] [path_visualizer] [debug] current_path_x:6.682574732056516, current_path_y:0.21872646994285855,current_path_yaw:0.6041524334999999 +[2026-10-08 18:14:28.485] [path_visualizer] [debug] current_cmd_angular_z:0.349866635734787 +[2026-10-08 18:14:28.540] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.540] 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[path_visualizer] [debug] current_pose_x:6.7031714943763125, current_pose_y:0.3529346522374935,current_pose_yaw:0.22921054065227509 +[2026-10-08 18:14:28.637] [path_visualizer] [debug] current_path_x:6.801718984598507, current_path_y:0.3005586880537343,current_path_yaw:0.72498292 +[2026-10-08 18:14:28.638] [path_visualizer] [debug] current_cmd_angular_z:0.48543650565890734 +[2026-10-08 18:14:28.689] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.689] [path_visualizer] [debug] current_pose_x:6.7031714943763125, current_pose_y:0.3529346522374935,current_pose_yaw:0.22921054065227509 +[2026-10-08 18:14:28.689] [path_visualizer] [debug] current_path_x:6.801718984598507, current_path_y:0.3005586880537343,current_path_yaw:0.72498292 +[2026-10-08 18:14:28.689] [path_visualizer] [debug] current_cmd_angular_z:0.48543650565890734 +[2026-10-08 18:14:28.737] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.737] 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[debug] current_pose_x:6.744437019222425, current_pose_y:0.39454875847409104,current_pose_yaw:0.25560203194618225 +[2026-10-08 18:14:28.936] [path_visualizer] [debug] current_path_x:6.801718984598507, current_path_y:0.3005586880537343,current_path_yaw:0.72498292 +[2026-10-08 18:14:28.936] [path_visualizer] [debug] current_cmd_angular_z:0.4356363117635663 +[2026-10-08 18:14:28.988] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:28.988] [path_visualizer] [debug] current_pose_x:6.76382742481035, current_pose_y:0.4185231765215151,current_pose_yaw:0.27131733298301697 +[2026-10-08 18:14:28.988] [path_visualizer] [debug] current_path_x:6.801718984598507, current_path_y:0.3005586880537343,current_path_yaw:0.72498292 +[2026-10-08 18:14:28.988] [path_visualizer] [debug] current_cmd_angular_z:0.39872171109889093 +[2026-10-08 18:14:29.032] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.032] [path_visualizer] [debug] current_pose_x:6.76382742481035, current_pose_y:0.4185231765215151,current_pose_yaw:0.27131733298301697 +[2026-10-08 18:14:29.032] [path_visualizer] [debug] current_path_x:6.801718984598507, current_path_y:0.3005586880537343,current_path_yaw:0.72498292 +[2026-10-08 18:14:29.032] [path_visualizer] [debug] current_cmd_angular_z:0.39872171109889093 +[2026-10-08 18:14:29.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.087] [path_visualizer] [debug] current_pose_x:6.76382742481035, current_pose_y:0.4185231765215151,current_pose_yaw:0.27131733298301697 +[2026-10-08 18:14:29.087] [path_visualizer] [debug] current_path_x:6.801718984598507, current_path_y:0.3005586880537343,current_path_yaw:0.72498292 +[2026-10-08 18:14:29.087] [path_visualizer] [debug] current_cmd_angular_z:0.39872171109889093 +[2026-10-08 18:14:29.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.138] [path_visualizer] [debug] current_pose_x:6.783297146748891, current_pose_y:0.4413444377521344,current_pose_yaw:0.28567567467689514 +[2026-10-08 18:14:29.138] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.138] [path_visualizer] [debug] current_cmd_angular_z:0.5756831251769408 +[2026-10-08 18:14:29.186] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.187] [path_visualizer] [debug] current_pose_x:6.783297146748891, current_pose_y:0.4413444377521344,current_pose_yaw:0.28567567467689514 +[2026-10-08 18:14:29.187] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.187] [path_visualizer] [debug] current_cmd_angular_z:0.5756831251769408 +[2026-10-08 18:14:29.236] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.236] [path_visualizer] [debug] current_pose_x:6.783297146748891, current_pose_y:0.4413444377521344,current_pose_yaw:0.28567567467689514 +[2026-10-08 18:14:29.236] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.236] [path_visualizer] [debug] current_cmd_angular_z:0.5756831251769408 +[2026-10-08 18:14:29.290] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.290] [path_visualizer] [debug] current_pose_x:6.802770126425267, current_pose_y:0.46343298463706817,current_pose_yaw:0.2991010248661041 +[2026-10-08 18:14:29.290] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.290] [path_visualizer] [debug] current_cmd_angular_z:0.5550991641889178 +[2026-10-08 18:14:29.337] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.338] [path_visualizer] [debug] current_pose_x:6.802770126425267, current_pose_y:0.46343298463706817,current_pose_yaw:0.2991010248661041 +[2026-10-08 18:14:29.338] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.338] [path_visualizer] [debug] current_cmd_angular_z:0.5550991641889178 +[2026-10-08 18:14:29.389] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.389] [path_visualizer] [debug] current_pose_x:6.820221923972591, current_pose_y:0.49074690042965463,current_pose_yaw:0.3171926140785218 +[2026-10-08 18:14:29.389] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.389] [path_visualizer] [debug] current_cmd_angular_z:0.5146692219397142 +[2026-10-08 18:14:29.435] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.435] [path_visualizer] [debug] current_pose_x:6.820221923972591, current_pose_y:0.49074690042965463,current_pose_yaw:0.3171926140785218 +[2026-10-08 18:14:29.435] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.435] [path_visualizer] [debug] current_cmd_angular_z:0.5146692219397142 +[2026-10-08 18:14:29.482] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.482] [path_visualizer] [debug] current_pose_x:6.820221923972591, current_pose_y:0.49074690042965463,current_pose_yaw:0.3171926140785218 +[2026-10-08 18:14:29.482] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.482] [path_visualizer] [debug] current_cmd_angular_z:0.5146692219397142 +[2026-10-08 18:14:29.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.537] [path_visualizer] [debug] current_pose_x:6.836864020794765, current_pose_y:0.5192190421288523,current_pose_yaw:0.3360540270805359 +[2026-10-08 18:14:29.537] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.538] [path_visualizer] [debug] current_cmd_angular_z:0.4695484711599415 +[2026-10-08 18:14:29.588] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.588] [path_visualizer] [debug] current_pose_x:6.836864020794765, current_pose_y:0.5192190421288523,current_pose_yaw:0.3360540270805359 +[2026-10-08 18:14:29.588] [path_visualizer] [debug] current_path_x:6.897719938401162, current_path_y:0.4083848763557742,current_path_yaw:0.8458134065 +[2026-10-08 18:14:29.588] [path_visualizer] [debug] current_cmd_angular_z:0.4695484711599415 +[2026-10-08 18:14:29.640] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.640] [path_visualizer] [debug] current_pose_x:6.853598864153238, current_pose_y:0.5463889648816374,current_pose_yaw:0.3533821403980255 +[2026-10-08 18:14:29.640] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:29.640] [path_visualizer] [debug] current_cmd_angular_z:0.5924538821829352 +[2026-10-08 18:14:29.683] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.683] [path_visualizer] [debug] current_pose_x:6.853598864153238, current_pose_y:0.5463889648816374,current_pose_yaw:0.3533821403980255 +[2026-10-08 18:14:29.683] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:29.683] [path_visualizer] [debug] current_cmd_angular_z:0.5924538821829352 +[2026-10-08 18:14:29.739] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.739] [path_visualizer] [debug] current_pose_x:6.853598864153238, current_pose_y:0.5463889648816374,current_pose_yaw:0.3533821403980255 +[2026-10-08 18:14:29.739] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:29.739] [path_visualizer] [debug] current_cmd_angular_z:0.5924538821829352 +[2026-10-08 18:14:29.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.789] [path_visualizer] [debug] current_pose_x:6.8702744260100745, current_pose_y:0.5728366039896534,current_pose_yaw:0.36975577473640436 +[2026-10-08 18:14:29.789] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:29.789] [path_visualizer] [debug] current_cmd_angular_z:0.5642418082833534 +[2026-10-08 18:14:29.837] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.837] [path_visualizer] [debug] current_pose_x:6.8702744260100745, current_pose_y:0.5728366039896534,current_pose_yaw:0.36975577473640436 +[2026-10-08 18:14:29.837] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:29.837] [path_visualizer] [debug] current_cmd_angular_z:0.5642418082833534 +[2026-10-08 18:14:29.884] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.884] [path_visualizer] [debug] current_pose_x:6.8702744260100745, current_pose_y:0.5728366039896534,current_pose_yaw:0.36975577473640436 +[2026-10-08 18:14:29.884] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:29.884] [path_visualizer] [debug] current_cmd_angular_z:0.5642418082833534 +[2026-10-08 18:14:29.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.938] [path_visualizer] [debug] current_pose_x:6.884914182467623, current_pose_y:0.6032642890658928,current_pose_yaw:0.3896998465061188 +[2026-10-08 18:14:29.938] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:29.938] [path_visualizer] [debug] current_cmd_angular_z:0.5205178024748981 +[2026-10-08 18:14:29.984] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:29.984] [path_visualizer] [debug] current_pose_x:6.884914182467623, current_pose_y:0.6032642890658928,current_pose_yaw:0.3896998465061188 +[2026-10-08 18:14:29.984] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:29.984] [path_visualizer] [debug] current_cmd_angular_z:0.5205178024748981 +[2026-10-08 18:14:30.039] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.039] [path_visualizer] [debug] current_pose_x:6.8993856151840225, current_pose_y:0.6330142606080403,current_pose_yaw:0.40869757533073425 +[2026-10-08 18:14:30.039] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:30.039] [path_visualizer] [debug] current_cmd_angular_z:0.4788633202794667 +[2026-10-08 18:14:30.084] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.084] [path_visualizer] [debug] current_pose_x:6.8993856151840225, current_pose_y:0.6330142606080403,current_pose_yaw:0.40869757533073425 +[2026-10-08 18:14:30.084] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:30.084] [path_visualizer] [debug] current_cmd_angular_z:0.4788633202794667 +[2026-10-08 18:14:30.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.138] [path_visualizer] [debug] current_pose_x:6.8993856151840225, current_pose_y:0.6330142606080403,current_pose_yaw:0.40869757533073425 +[2026-10-08 18:14:30.138] [path_visualizer] [debug] current_path_x:6.993720892203817, current_path_y:0.5162110646578141,current_path_yaw:0.966643893 +[2026-10-08 18:14:30.138] [path_visualizer] [debug] current_cmd_angular_z:0.4788633202794667 +[2026-10-08 18:14:30.185] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.185] [path_visualizer] [debug] current_pose_x:6.913828481806032, current_pose_y:0.661912339416699,current_pose_yaw:0.4265905022621155 +[2026-10-08 18:14:30.185] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.185] [path_visualizer] [debug] current_cmd_angular_z:0.6487108360443096 +[2026-10-08 18:14:30.235] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.235] [path_visualizer] [debug] current_pose_x:6.913828481806032, current_pose_y:0.661912339416699,current_pose_yaw:0.4265905022621155 +[2026-10-08 18:14:30.235] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.235] [path_visualizer] [debug] current_cmd_angular_z:0.6487108360443096 +[2026-10-08 18:14:30.283] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.283] [path_visualizer] [debug] current_pose_x:6.928646237995816, current_pose_y:0.6892672399116105,current_pose_yaw:0.4427142143249512 +[2026-10-08 18:14:30.283] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.283] [path_visualizer] [debug] current_cmd_angular_z:0.625255795933251 +[2026-10-08 18:14:30.335] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.335] [path_visualizer] [debug] current_pose_x:6.928646237995816, current_pose_y:0.6892672399116105,current_pose_yaw:0.4427142143249512 +[2026-10-08 18:14:30.335] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.336] [path_visualizer] [debug] current_cmd_angular_z:0.625255795933251 +[2026-10-08 18:14:30.387] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.387] [path_visualizer] [debug] current_pose_x:6.928646237995816, current_pose_y:0.6892672399116105,current_pose_yaw:0.4427142143249512 +[2026-10-08 18:14:30.387] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.387] [path_visualizer] [debug] current_cmd_angular_z:0.625255795933251 +[2026-10-08 18:14:30.433] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.433] [path_visualizer] [debug] current_pose_x:6.940756884422498, current_pose_y:0.7212005203469191,current_pose_yaw:0.46318742632865906 +[2026-10-08 18:14:30.433] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.433] [path_visualizer] [debug] current_cmd_angular_z:0.5835974304298339 +[2026-10-08 18:14:30.494] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.494] [path_visualizer] [debug] current_pose_x:6.940756884422498, current_pose_y:0.7212005203469191,current_pose_yaw:0.46318742632865906 +[2026-10-08 18:14:30.494] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.494] [path_visualizer] [debug] current_cmd_angular_z:0.5835974304298339 +[2026-10-08 18:14:30.535] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.535] [path_visualizer] [debug] current_pose_x:6.940756884422498, current_pose_y:0.7212005203469191,current_pose_yaw:0.46318742632865906 +[2026-10-08 18:14:30.535] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.535] [path_visualizer] [debug] current_cmd_angular_z:0.5835974304298339 +[2026-10-08 18:14:30.587] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.587] [path_visualizer] [debug] current_pose_x:6.951886915229151, current_pose_y:0.7539668670475519,current_pose_yaw:0.4842364192008972 +[2026-10-08 18:14:30.587] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.587] [path_visualizer] [debug] current_cmd_angular_z:0.5378472127736234 +[2026-10-08 18:14:30.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.638] [path_visualizer] [debug] current_pose_x:6.951886915229151, current_pose_y:0.7539668670475519,current_pose_yaw:0.4842364192008972 +[2026-10-08 18:14:30.638] [path_visualizer] [debug] current_path_x:7.060999295545427, current_path_y:0.6437647645869276,current_path_yaw:1.08747438 +[2026-10-08 18:14:30.638] [path_visualizer] [debug] current_cmd_angular_z:0.5378472127736234 +[2026-10-08 18:14:30.687] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.687] [path_visualizer] [debug] current_pose_x:6.963116532602072, current_pose_y:0.7855934318520207,current_pose_yaw:0.5038835406303406 +[2026-10-08 18:14:30.687] [path_visualizer] [debug] current_path_x:7.128277698887037, current_path_y:0.7713184645160409,current_path_yaw:1.208304867 +[2026-10-08 18:14:30.687] [path_visualizer] [debug] current_cmd_angular_z:0.6617144307363856 +[2026-10-08 18:14:30.733] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.733] [path_visualizer] [debug] current_pose_x:6.963116532602072, current_pose_y:0.7855934318520207,current_pose_yaw:0.5038835406303406 +[2026-10-08 18:14:30.733] [path_visualizer] [debug] current_path_x:7.128277698887037, current_path_y:0.7713184645160409,current_path_yaw:1.208304867 +[2026-10-08 18:14:30.733] [path_visualizer] [debug] current_cmd_angular_z:0.6617144307363856 +[2026-10-08 18:14:30.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.789] [path_visualizer] [debug] current_pose_x:6.963116532602072, current_pose_y:0.7855934318520207,current_pose_yaw:0.5038835406303406 +[2026-10-08 18:14:30.789] [path_visualizer] [debug] current_path_x:7.128277698887037, current_path_y:0.7713184645160409,current_path_yaw:1.208304867 +[2026-10-08 18:14:30.789] [path_visualizer] [debug] current_cmd_angular_z:0.6617144307363856 +[2026-10-08 18:14:30.835] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.835] [path_visualizer] [debug] current_pose_x:6.974395476186949, current_pose_y:0.8163181767534717,current_pose_yaw:0.5223755240440369 +[2026-10-08 18:14:30.835] [path_visualizer] [debug] current_path_x:7.128277698887037, current_path_y:0.7713184645160409,current_path_yaw:1.208304867 +[2026-10-08 18:14:30.835] [path_visualizer] [debug] current_cmd_angular_z:0.6327205611498163 +[2026-10-08 18:14:30.889] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.889] [path_visualizer] [debug] current_pose_x:6.974395476186949, current_pose_y:0.8163181767534717,current_pose_yaw:0.5223755240440369 +[2026-10-08 18:14:30.889] [path_visualizer] [debug] current_path_x:7.128277698887037, current_path_y:0.7713184645160409,current_path_yaw:1.208304867 +[2026-10-08 18:14:30.889] [path_visualizer] [debug] current_cmd_angular_z:0.6327205611498163 +[2026-10-08 18:14:30.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.938] [path_visualizer] [debug] current_pose_x:6.983124358231704, current_pose_y:0.8503891310086599,current_pose_yaw:0.5441702008247377 +[2026-10-08 18:14:30.938] [path_visualizer] [debug] current_path_x:7.128277698887037, current_path_y:0.7713184645160409,current_path_yaw:1.208304867 +[2026-10-08 18:14:30.938] [path_visualizer] [debug] current_cmd_angular_z:0.5895579781117791 +[2026-10-08 18:14:30.989] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:30.989] [path_visualizer] [debug] current_pose_x:6.983124358231704, current_pose_y:0.8503891310086599,current_pose_yaw:0.5441702008247377 +[2026-10-08 18:14:30.989] [path_visualizer] [debug] current_path_x:7.128277698887037, current_path_y:0.7713184645160409,current_path_yaw:1.208304867 +[2026-10-08 18:14:30.989] [path_visualizer] [debug] current_cmd_angular_z:0.5895579781117791 +[2026-10-08 18:14:31.040] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.040] [path_visualizer] [debug] current_pose_x:6.983124358231704, current_pose_y:0.8503891310086599,current_pose_yaw:0.5441702008247377 +[2026-10-08 18:14:31.040] [path_visualizer] [debug] current_path_x:7.128277698887037, current_path_y:0.7713184645160409,current_path_yaw:1.208304867 +[2026-10-08 18:14:31.040] [path_visualizer] [debug] current_cmd_angular_z:0.5895579781117791 +[2026-10-08 18:14:31.089] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.089] [path_visualizer] [debug] current_pose_x:6.991629918312463, current_pose_y:0.8838573145960832,current_pose_yaw:0.5651092529296875 +[2026-10-08 18:14:31.089] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.089] [path_visualizer] [debug] current_cmd_angular_z:0.7515544065273991 +[2026-10-08 18:14:31.133] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.133] [path_visualizer] [debug] current_pose_x:6.991629918312463, current_pose_y:0.8838573145960832,current_pose_yaw:0.5651092529296875 +[2026-10-08 18:14:31.133] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.133] [path_visualizer] [debug] current_cmd_angular_z:0.7515544065273991 +[2026-10-08 18:14:31.184] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.184] [path_visualizer] [debug] current_pose_x:6.991629918312463, current_pose_y:0.8838573145960832,current_pose_yaw:0.5651092529296875 +[2026-10-08 18:14:31.184] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.184] [path_visualizer] [debug] current_cmd_angular_z:0.7515544065273991 +[2026-10-08 18:14:31.239] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.239] [path_visualizer] [debug] current_pose_x:7.000139108398118, current_pose_y:0.9164761129850476,current_pose_yaw:0.5849576592445374 +[2026-10-08 18:14:31.239] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.239] [path_visualizer] [debug] current_cmd_angular_z:0.7225618517501637 +[2026-10-08 18:14:31.286] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.286] [path_visualizer] [debug] current_pose_x:7.000139108398118, current_pose_y:0.9164761129850476,current_pose_yaw:0.5849576592445374 +[2026-10-08 18:14:31.286] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.286] [path_visualizer] [debug] current_cmd_angular_z:0.7225618517501637 +[2026-10-08 18:14:31.339] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.339] [path_visualizer] [debug] current_pose_x:7.005084899997479, current_pose_y:0.9532847443121637,current_pose_yaw:0.6092188358306885 +[2026-10-08 18:14:31.339] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.339] [path_visualizer] [debug] current_cmd_angular_z:0.6754291106038364 +[2026-10-08 18:14:31.387] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.387] [path_visualizer] [debug] current_pose_x:7.005084899997479, current_pose_y:0.9532847443121637,current_pose_yaw:0.6092188358306885 +[2026-10-08 18:14:31.387] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.387] [path_visualizer] [debug] current_cmd_angular_z:0.6754291106038364 +[2026-10-08 18:14:31.433] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.433] [path_visualizer] [debug] current_pose_x:7.005084899997479, current_pose_y:0.9532847443121637,current_pose_yaw:0.6092188358306885 +[2026-10-08 18:14:31.433] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.433] [path_visualizer] [debug] current_cmd_angular_z:0.6754291106038364 +[2026-10-08 18:14:31.486] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.486] [path_visualizer] [debug] current_pose_x:7.0089111940605715, current_pose_y:0.9905029686312717,current_pose_yaw:0.6337844133377075 +[2026-10-08 18:14:31.486] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.486] [path_visualizer] [debug] current_cmd_angular_z:0.6247974050923905 +[2026-10-08 18:14:31.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.538] [path_visualizer] [debug] current_pose_x:7.0089111940605715, current_pose_y:0.9905029686312717,current_pose_yaw:0.6337844133377075 +[2026-10-08 18:14:31.538] [path_visualizer] [debug] current_path_x:7.162923589320448, current_path_y:0.9111867022433789,current_path_yaw:1.3291353535 +[2026-10-08 18:14:31.538] [path_visualizer] [debug] current_cmd_angular_z:0.6247974050923905 +[2026-10-08 18:14:31.587] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.587] [path_visualizer] [debug] current_pose_x:7.013120723253463, current_pose_y:1.0262038425401,current_pose_yaw:0.6565206050872802 +[2026-10-08 18:14:31.587] [path_visualizer] [debug] current_path_x:7.197569479753858, current_path_y:1.051054939970717,current_path_yaw:1.44996584 +[2026-10-08 18:14:31.587] [path_visualizer] [debug] current_cmd_angular_z:0.7441575037539894 +[2026-10-08 18:14:31.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.638] [path_visualizer] [debug] current_pose_x:7.013120723253463, current_pose_y:1.0262038425401,current_pose_yaw:0.6565206050872802 +[2026-10-08 18:14:31.638] [path_visualizer] [debug] current_path_x:7.197569479753858, current_path_y:1.051054939970717,current_path_yaw:1.44996584 +[2026-10-08 18:14:31.638] [path_visualizer] [debug] current_cmd_angular_z:0.7441575037539894 +[2026-10-08 18:14:31.683] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.683] [path_visualizer] [debug] current_pose_x:7.013120723253463, current_pose_y:1.0262038425401,current_pose_yaw:0.6565206050872802 +[2026-10-08 18:14:31.683] [path_visualizer] [debug] current_path_x:7.197569479753858, current_path_y:1.051054939970717,current_path_yaw:1.44996584 +[2026-10-08 18:14:31.683] [path_visualizer] [debug] current_cmd_angular_z:0.7441575037539894 +[2026-10-08 18:14:31.737] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.737] [path_visualizer] [debug] current_pose_x:7.017352565353277, current_pose_y:1.0609949481212775,current_pose_yaw:0.6781168580055237 +[2026-10-08 18:14:31.737] [path_visualizer] [debug] current_path_x:7.197569479753858, current_path_y:1.051054939970717,current_path_yaw:1.44996584 +[2026-10-08 18:14:31.737] [path_visualizer] [debug] current_cmd_angular_z:0.711360167147862 +[2026-10-08 18:14:31.790] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.790] [path_visualizer] [debug] current_pose_x:7.017352565353277, current_pose_y:1.0609949481212775,current_pose_yaw:0.6781168580055237 +[2026-10-08 18:14:31.790] [path_visualizer] [debug] current_path_x:7.197569479753858, current_path_y:1.051054939970717,current_path_yaw:1.44996584 +[2026-10-08 18:14:31.790] [path_visualizer] [debug] current_cmd_angular_z:0.711360167147862 +[2026-10-08 18:14:31.833] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.833] [path_visualizer] [debug] current_pose_x:7.017352565353277, current_pose_y:1.0609949481212775,current_pose_yaw:0.6781168580055237 +[2026-10-08 18:14:31.833] [path_visualizer] [debug] current_path_x:7.197569479753858, current_path_y:1.051054939970717,current_path_yaw:1.44996584 +[2026-10-08 18:14:31.833] [path_visualizer] [debug] current_cmd_angular_z:0.711360167147862 +[2026-10-08 18:14:31.890] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.890] [path_visualizer] [debug] current_pose_x:7.018255689651951, current_pose_y:1.0987973063504706,current_pose_yaw:0.7031626105308534 +[2026-10-08 18:14:31.890] [path_visualizer] [debug] current_path_x:7.197569479753858, current_path_y:1.051054939970717,current_path_yaw:1.44996584 +[2026-10-08 18:14:31.890] [path_visualizer] [debug] current_cmd_angular_z:0.663923811946554 +[2026-10-08 18:14:31.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.938] [path_visualizer] [debug] current_pose_x:7.018255689651951, current_pose_y:1.0987973063504706,current_pose_yaw:0.7031626105308534 +[2026-10-08 18:14:31.938] [path_visualizer] [debug] current_path_x:7.197569479753858, current_path_y:1.051054939970717,current_path_yaw:1.44996584 +[2026-10-08 18:14:31.938] [path_visualizer] [debug] current_cmd_angular_z:0.663923811946554 +[2026-10-08 18:14:31.990] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:31.990] [path_visualizer] [debug] current_pose_x:7.019052386938213, current_pose_y:1.1356998266997924,current_pose_yaw:0.727105438709259 +[2026-10-08 18:14:31.990] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:31.990] [path_visualizer] [debug] current_cmd_angular_z:0.8245854529787754 +[2026-10-08 18:14:32.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.038] [path_visualizer] [debug] current_pose_x:7.019052386938213, current_pose_y:1.1356998266997924,current_pose_yaw:0.727105438709259 +[2026-10-08 18:14:32.038] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.038] [path_visualizer] [debug] current_cmd_angular_z:0.8245854529787754 +[2026-10-08 18:14:32.091] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.091] [path_visualizer] [debug] current_pose_x:7.019052386938213, current_pose_y:1.1356998266997924,current_pose_yaw:0.727105438709259 +[2026-10-08 18:14:32.091] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.091] [path_visualizer] [debug] current_cmd_angular_z:0.8245854529787754 +[2026-10-08 18:14:32.132] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.132] [path_visualizer] [debug] current_pose_x:7.01989755358154, current_pose_y:1.1716255108461562,current_pose_yaw:0.7498547434806824 +[2026-10-08 18:14:32.132] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.132] [path_visualizer] [debug] current_cmd_angular_z:0.792182751936567 +[2026-10-08 18:14:32.190] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.190] [path_visualizer] [debug] current_pose_x:7.01989755358154, current_pose_y:1.1716255108461562,current_pose_yaw:0.7498547434806824 +[2026-10-08 18:14:32.190] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.190] [path_visualizer] [debug] current_cmd_angular_z:0.792182751936567 +[2026-10-08 18:14:32.240] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.240] [path_visualizer] [debug] current_pose_x:7.016723588821392, current_pose_y:1.2107155483079786,current_pose_yaw:0.7765968441963196 +[2026-10-08 18:14:32.240] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.240] [path_visualizer] [debug] current_cmd_angular_z:0.7434142340245428 +[2026-10-08 18:14:32.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.289] [path_visualizer] [debug] current_pose_x:7.016723588821392, current_pose_y:1.2107155483079786,current_pose_yaw:0.7765968441963196 +[2026-10-08 18:14:32.289] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.289] [path_visualizer] [debug] current_cmd_angular_z:0.7434142340245428 +[2026-10-08 18:14:32.338] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.338] [path_visualizer] [debug] current_pose_x:7.016723588821392, current_pose_y:1.2107155483079786,current_pose_yaw:0.7765968441963196 +[2026-10-08 18:14:32.338] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.338] [path_visualizer] [debug] current_cmd_angular_z:0.7434142340245428 +[2026-10-08 18:14:32.384] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.384] [path_visualizer] [debug] current_pose_x:7.012553023154001, current_pose_y:1.24967245132067,current_pose_yaw:0.8032603859901428 +[2026-10-08 18:14:32.384] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.384] [path_visualizer] [debug] current_cmd_angular_z:0.6922113982526888 +[2026-10-08 18:14:32.435] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.435] [path_visualizer] [debug] current_pose_x:7.012553023154001, current_pose_y:1.24967245132067,current_pose_yaw:0.8032603859901428 +[2026-10-08 18:14:32.435] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.435] [path_visualizer] [debug] current_cmd_angular_z:0.6922113982526888 +[2026-10-08 18:14:32.487] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.487] [path_visualizer] [debug] current_pose_x:7.012553023154001, current_pose_y:1.24967245132067,current_pose_yaw:0.8032603859901428 +[2026-10-08 18:14:32.487] [path_visualizer] [debug] current_path_x:7.197569382975454, current_path_y:1.1951091608084692,current_path_yaw:1.5707963265 +[2026-10-08 18:14:32.487] [path_visualizer] [debug] current_cmd_angular_z:0.6922113982526888 +[2026-10-08 18:14:32.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.538] [path_visualizer] [debug] current_pose_x:7.00873541881834, current_pose_y:1.2872856160994177,current_pose_yaw:0.8282848596572875 +[2026-10-08 18:14:32.538] [path_visualizer] [debug] current_path_x:7.19756928619705, current_path_y:1.3391633816462214,current_path_yaw:1.691626813 +[2026-10-08 18:14:32.538] [path_visualizer] [debug] current_cmd_angular_z:0.8155147756620214 +[2026-10-08 18:14:32.588] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.588] [path_visualizer] [debug] current_pose_x:7.00873541881834, current_pose_y:1.2872856160994177,current_pose_yaw:0.8282848596572875 +[2026-10-08 18:14:32.588] [path_visualizer] [debug] current_path_x:7.19756928619705, current_path_y:1.3391633816462214,current_path_yaw:1.691626813 +[2026-10-08 18:14:32.588] [path_visualizer] [debug] current_cmd_angular_z:0.8155147756620214 +[2026-10-08 18:14:32.637] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.637] [path_visualizer] [debug] current_pose_x:7.005471806614189, current_pose_y:1.3235368645963754,current_pose_yaw:0.8515858054161072 +[2026-10-08 18:14:32.637] [path_visualizer] [debug] current_path_x:7.19756928619705, current_path_y:1.3391633816462214,current_path_yaw:1.691626813 +[2026-10-08 18:14:32.637] [path_visualizer] [debug] current_cmd_angular_z:0.7830031518806999 +[2026-10-08 18:14:32.683] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.683] [path_visualizer] [debug] current_pose_x:7.005471806614189, current_pose_y:1.3235368645963754,current_pose_yaw:0.8515858054161072 +[2026-10-08 18:14:32.683] [path_visualizer] [debug] current_path_x:7.19756928619705, current_path_y:1.3391633816462214,current_path_yaw:1.691626813 +[2026-10-08 18:14:32.683] [path_visualizer] [debug] current_cmd_angular_z:0.7830031518806999 +[2026-10-08 18:14:32.735] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.735] [path_visualizer] [debug] current_pose_x:7.005471806614189, current_pose_y:1.3235368645963754,current_pose_yaw:0.8515858054161072 +[2026-10-08 18:14:32.735] [path_visualizer] [debug] current_path_x:7.19756928619705, current_path_y:1.3391633816462214,current_path_yaw:1.691626813 +[2026-10-08 18:14:32.735] [path_visualizer] [debug] current_cmd_angular_z:0.7830031518806999 +[2026-10-08 18:14:32.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.789] [path_visualizer] [debug] current_pose_x:6.999056969462394, current_pose_y:1.3615461304918726,current_pose_yaw:0.8775221705436708 +[2026-10-08 18:14:32.789] [path_visualizer] [debug] current_path_x:7.19756928619705, current_path_y:1.3391633816462214,current_path_yaw:1.691626813 +[2026-10-08 18:14:32.789] [path_visualizer] [debug] current_cmd_angular_z:0.7390140767354288 +[2026-10-08 18:14:32.837] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.837] [path_visualizer] [debug] current_pose_x:6.999056969462394, current_pose_y:1.3615461304918726,current_pose_yaw:0.8775221705436708 +[2026-10-08 18:14:32.837] [path_visualizer] [debug] current_path_x:7.19756928619705, current_path_y:1.3391633816462214,current_path_yaw:1.691626813 +[2026-10-08 18:14:32.837] [path_visualizer] [debug] current_cmd_angular_z:0.7390140767354288 +[2026-10-08 18:14:32.884] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.884] [path_visualizer] [debug] current_pose_x:6.991261962526378, current_pose_y:1.399677133934655,current_pose_yaw:0.9038757085800171 +[2026-10-08 18:14:32.884] [path_visualizer] [debug] current_path_x:7.162923210541902, current_path_y:1.4790316284422558,current_path_yaw:1.8124573000000002 +[2026-10-08 18:14:32.884] [path_visualizer] [debug] current_cmd_angular_z:0.9048760015394148 +[2026-10-08 18:14:32.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.938] [path_visualizer] [debug] current_pose_x:6.991261962526378, current_pose_y:1.399677133934655,current_pose_yaw:0.9038757085800171 +[2026-10-08 18:14:32.938] [path_visualizer] [debug] current_path_x:7.162923210541902, current_path_y:1.4790316284422558,current_path_yaw:1.8124573000000002 +[2026-10-08 18:14:32.938] [path_visualizer] [debug] current_cmd_angular_z:0.9048760015394148 +[2026-10-08 18:14:32.985] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:32.985] [path_visualizer] [debug] current_pose_x:6.991261962526378, current_pose_y:1.399677133934655,current_pose_yaw:0.9038757085800171 +[2026-10-08 18:14:32.985] [path_visualizer] [debug] current_path_x:7.162923210541902, current_path_y:1.4790316284422558,current_path_yaw:1.8124573000000002 +[2026-10-08 18:14:32.985] [path_visualizer] [debug] current_cmd_angular_z:0.9048760015394148 +[2026-10-08 18:14:33.036] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.036] [path_visualizer] [debug] current_pose_x:6.983310606231024, current_pose_y:1.4369913032880852,current_pose_yaw:0.9293146729469299 +[2026-10-08 18:14:33.036] [path_visualizer] [debug] current_path_x:7.162923210541902, current_path_y:1.4790316284422558,current_path_yaw:1.8124573000000002 +[2026-10-08 18:14:33.037] [path_visualizer] [debug] current_cmd_angular_z:0.8693199936698764 +[2026-10-08 18:14:33.085] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.085] [path_visualizer] [debug] current_pose_x:6.983310606231024, current_pose_y:1.4369913032880852,current_pose_yaw:0.9293146729469299 +[2026-10-08 18:14:33.085] [path_visualizer] [debug] current_path_x:7.162923210541902, current_path_y:1.4790316284422558,current_path_yaw:1.8124573000000002 +[2026-10-08 18:14:33.085] [path_visualizer] [debug] current_cmd_angular_z:0.8693199936698764 +[2026-10-08 18:14:33.135] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.135] [path_visualizer] [debug] current_pose_x:6.983310606231024, current_pose_y:1.4369913032880852,current_pose_yaw:0.9293146729469299 +[2026-10-08 18:14:33.135] [path_visualizer] [debug] current_path_x:7.162923210541902, current_path_y:1.4790316284422558,current_path_yaw:1.8124573000000002 +[2026-10-08 18:14:33.135] [path_visualizer] [debug] current_cmd_angular_z:0.8693199936698764 +[2026-10-08 18:14:33.186] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.186] [path_visualizer] [debug] current_pose_x:6.969978162253581, current_pose_y:1.4771131041048908,current_pose_yaw:0.959495186805725 +[2026-10-08 18:14:33.186] [path_visualizer] [debug] current_path_x:7.162923210541902, current_path_y:1.4790316284422558,current_path_yaw:1.8124573000000002 +[2026-10-08 18:14:33.186] [path_visualizer] [debug] current_cmd_angular_z:0.8148929062286498 +[2026-10-08 18:14:33.236] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.236] [path_visualizer] [debug] current_pose_x:6.969978162253581, current_pose_y:1.4771131041048908,current_pose_yaw:0.959495186805725 +[2026-10-08 18:14:33.236] [path_visualizer] [debug] current_path_x:7.162923210541902, current_path_y:1.4790316284422558,current_path_yaw:1.8124573000000002 +[2026-10-08 18:14:33.236] [path_visualizer] [debug] current_cmd_angular_z:0.8148929062286498 +[2026-10-08 18:14:33.285] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.285] [path_visualizer] [debug] current_pose_x:6.956300753523511, current_pose_y:1.516252316341011,current_pose_yaw:0.9887617826461791 +[2026-10-08 18:14:33.285] [path_visualizer] [debug] current_path_x:7.128277134886755, current_path_y:1.6188998752382902,current_path_yaw:1.933287787 +[2026-10-08 18:14:33.285] [path_visualizer] [debug] current_cmd_angular_z:0.9299344707784697 +[2026-10-08 18:14:33.339] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.339] [path_visualizer] [debug] current_pose_x:6.956300753523511, current_pose_y:1.516252316341011,current_pose_yaw:0.9887617826461791 +[2026-10-08 18:14:33.339] [path_visualizer] [debug] current_path_x:7.128277134886755, current_path_y:1.6188998752382902,current_path_yaw:1.933287787 +[2026-10-08 18:14:33.339] [path_visualizer] [debug] current_cmd_angular_z:0.9299344707784697 +[2026-10-08 18:14:33.384] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.384] [path_visualizer] [debug] current_pose_x:6.956300753523511, current_pose_y:1.516252316341011,current_pose_yaw:0.9887617826461791 +[2026-10-08 18:14:33.384] [path_visualizer] [debug] current_path_x:7.128277134886755, current_path_y:1.6188998752382902,current_path_yaw:1.933287787 +[2026-10-08 18:14:33.384] [path_visualizer] [debug] current_cmd_angular_z:0.9299344707784697 +[2026-10-08 18:14:33.435] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.435] [path_visualizer] [debug] current_pose_x:6.942820332121405, current_pose_y:1.554178664566293,current_pose_yaw:1.0166527032852173 +[2026-10-08 18:14:33.435] [path_visualizer] [debug] current_path_x:7.128277134886755, current_path_y:1.6188998752382902,current_path_yaw:1.933287787 +[2026-10-08 18:14:33.435] [path_visualizer] [debug] current_cmd_angular_z:0.8897170840312619 +[2026-10-08 18:14:33.490] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.490] [path_visualizer] [debug] current_pose_x:6.942820332121405, current_pose_y:1.554178664566293,current_pose_yaw:1.0166527032852173 +[2026-10-08 18:14:33.490] [path_visualizer] [debug] current_path_x:7.128277134886755, current_path_y:1.6188998752382902,current_path_yaw:1.933287787 +[2026-10-08 18:14:33.490] [path_visualizer] [debug] current_cmd_angular_z:0.8897170840312619 +[2026-10-08 18:14:33.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.537] [path_visualizer] [debug] current_pose_x:6.9253555428385365, current_pose_y:1.593358268929272,current_pose_yaw:1.047533631324768 +[2026-10-08 18:14:33.537] [path_visualizer] [debug] current_path_x:7.128277134886755, current_path_y:1.6188998752382902,current_path_yaw:1.933287787 +[2026-10-08 18:14:33.537] [path_visualizer] [debug] current_cmd_angular_z:0.8365489435682502 +[2026-10-08 18:14:33.590] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.590] [path_visualizer] [debug] current_pose_x:6.9253555428385365, current_pose_y:1.593358268929272,current_pose_yaw:1.047533631324768 +[2026-10-08 18:14:33.590] [path_visualizer] [debug] current_path_x:7.128277134886755, current_path_y:1.6188998752382902,current_path_yaw:1.933287787 +[2026-10-08 18:14:33.590] [path_visualizer] [debug] current_cmd_angular_z:0.8365489435682502 +[2026-10-08 18:14:33.635] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.635] [path_visualizer] [debug] current_pose_x:6.9253555428385365, current_pose_y:1.593358268929272,current_pose_yaw:1.047533631324768 +[2026-10-08 18:14:33.635] [path_visualizer] [debug] current_path_x:7.128277134886755, current_path_y:1.6188998752382902,current_path_yaw:1.933287787 +[2026-10-08 18:14:33.635] [path_visualizer] [debug] current_cmd_angular_z:0.8365489435682502 +[2026-10-08 18:14:33.687] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.687] [path_visualizer] [debug] current_pose_x:6.908044387037334, current_pose_y:1.6312610984903848,current_pose_yaw:1.0770376920700073 +[2026-10-08 18:14:33.687] [path_visualizer] [debug] current_path_x:7.060998570531846, current_path_y:1.7464534876057098,current_path_yaw:2.0541182735 +[2026-10-08 18:14:33.687] [path_visualizer] [debug] current_cmd_angular_z:1.0004991896956963 +[2026-10-08 18:14:33.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.738] [path_visualizer] [debug] current_pose_x:6.908044387037334, current_pose_y:1.6312610984903848,current_pose_yaw:1.0770376920700073 +[2026-10-08 18:14:33.738] [path_visualizer] [debug] current_path_x:7.060998570531846, current_path_y:1.7464534876057098,current_path_yaw:2.0541182735 +[2026-10-08 18:14:33.738] [path_visualizer] [debug] current_cmd_angular_z:1.0004991896956963 +[2026-10-08 18:14:33.786] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.786] [path_visualizer] [debug] current_pose_x:6.908044387037334, current_pose_y:1.6312610984903848,current_pose_yaw:1.0770376920700073 +[2026-10-08 18:14:33.786] [path_visualizer] [debug] current_path_x:7.060998570531846, current_path_y:1.7464534876057098,current_path_yaw:2.0541182735 +[2026-10-08 18:14:33.786] [path_visualizer] [debug] current_cmd_angular_z:1.0004991896956963 +[2026-10-08 18:14:33.836] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.836] [path_visualizer] [debug] current_pose_x:6.891003416465713, current_pose_y:1.6679773722844262,current_pose_yaw:1.105198621749878 +[2026-10-08 18:14:33.836] [path_visualizer] [debug] current_path_x:7.060998570531846, current_path_y:1.7464534876057098,current_path_yaw:2.0541182735 +[2026-10-08 18:14:33.836] [path_visualizer] [debug] current_cmd_angular_z:0.9627655355158551 +[2026-10-08 18:14:33.884] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.884] [path_visualizer] [debug] current_pose_x:6.891003416465713, current_pose_y:1.6679773722844262,current_pose_yaw:1.105198621749878 +[2026-10-08 18:14:33.884] [path_visualizer] [debug] current_path_x:7.060998570531846, current_path_y:1.7464534876057098,current_path_yaw:2.0541182735 +[2026-10-08 18:14:33.885] [path_visualizer] [debug] current_cmd_angular_z:0.9627655355158551 +[2026-10-08 18:14:33.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.938] [path_visualizer] [debug] current_pose_x:6.86852778718508, current_pose_y:1.706291769842249,current_pose_yaw:1.1376891136169431 +[2026-10-08 18:14:33.938] [path_visualizer] [debug] current_path_x:7.060998570531846, current_path_y:1.7464534876057098,current_path_yaw:2.0541182735 +[2026-10-08 18:14:33.938] [path_visualizer] [debug] current_cmd_angular_z:0.9080253586908551 +[2026-10-08 18:14:33.986] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:33.986] [path_visualizer] [debug] current_pose_x:6.86852778718508, current_pose_y:1.706291769842249,current_pose_yaw:1.1376891136169431 +[2026-10-08 18:14:33.986] [path_visualizer] [debug] current_path_x:7.060998570531846, current_path_y:1.7464534876057098,current_path_yaw:2.0541182735 +[2026-10-08 18:14:33.986] [path_visualizer] [debug] current_cmd_angular_z:0.9080253586908551 +[2026-10-08 18:14:34.037] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.037] [path_visualizer] [debug] current_pose_x:6.86852778718508, current_pose_y:1.706291769842249,current_pose_yaw:1.1376891136169431 +[2026-10-08 18:14:34.037] [path_visualizer] [debug] current_path_x:7.060998570531846, current_path_y:1.7464534876057098,current_path_yaw:2.0541182735 +[2026-10-08 18:14:34.037] [path_visualizer] [debug] current_cmd_angular_z:0.9080253586908551 +[2026-10-08 18:14:34.084] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.084] [path_visualizer] [debug] current_pose_x:6.844588467739346, current_pose_y:1.7438869877891212,current_pose_yaw:1.1703534126281738 +[2026-10-08 18:14:34.084] [path_visualizer] [debug] current_path_x:6.993720006176938, current_path_y:1.8740070999731295,current_path_yaw:2.17494876 +[2026-10-08 18:14:34.085] [path_visualizer] [debug] current_cmd_angular_z:1.0226226155765785 +[2026-10-08 18:14:34.137] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.137] [path_visualizer] [debug] current_pose_x:6.844588467739346, current_pose_y:1.7438869877891212,current_pose_yaw:1.1703534126281738 +[2026-10-08 18:14:34.137] [path_visualizer] [debug] current_path_x:6.993720006176938, current_path_y:1.8740070999731295,current_path_yaw:2.17494876 +[2026-10-08 18:14:34.137] [path_visualizer] [debug] current_cmd_angular_z:1.0226226155765785 +[2026-10-08 18:14:34.188] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.188] [path_visualizer] [debug] current_pose_x:6.82163604593373, current_pose_y:1.7798035309765967,current_pose_yaw:1.2009209394454956 +[2026-10-08 18:14:34.188] [path_visualizer] [debug] current_path_x:6.993720006176938, current_path_y:1.8740070999731295,current_path_yaw:2.17494876 +[2026-10-08 18:14:34.188] [path_visualizer] [debug] current_cmd_angular_z:0.9800522629680049 +[2026-10-08 18:14:34.232] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.232] [path_visualizer] [debug] current_pose_x:6.82163604593373, current_pose_y:1.7798035309765967,current_pose_yaw:1.2009209394454956 +[2026-10-08 18:14:34.232] [path_visualizer] [debug] current_path_x:6.993720006176938, current_path_y:1.8740070999731295,current_path_yaw:2.17494876 +[2026-10-08 18:14:34.232] [path_visualizer] [debug] current_cmd_angular_z:0.9800522629680049 +[2026-10-08 18:14:34.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.289] [path_visualizer] [debug] current_pose_x:6.82163604593373, current_pose_y:1.7798035309765967,current_pose_yaw:1.2009209394454956 +[2026-10-08 18:14:34.289] [path_visualizer] [debug] current_path_x:6.993720006176938, current_path_y:1.8740070999731295,current_path_yaw:2.17494876 +[2026-10-08 18:14:34.289] [path_visualizer] [debug] current_cmd_angular_z:0.9800522629680049 +[2026-10-08 18:14:34.335] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.335] [path_visualizer] [debug] current_pose_x:6.795091070796726, current_pose_y:1.8159825377352745,current_pose_yaw:1.2338670492172241 +[2026-10-08 18:14:34.335] [path_visualizer] [debug] current_path_x:6.897718927226474, current_path_y:1.9818331101380602,current_path_yaw:2.295779247 +[2026-10-08 18:14:34.335] [path_visualizer] [debug] current_cmd_angular_z:1.1349627690153055 +[2026-10-08 18:14:34.388] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.389] [path_visualizer] [debug] current_pose_x:6.795091070796726, current_pose_y:1.8159825377352745,current_pose_yaw:1.2338670492172241 +[2026-10-08 18:14:34.389] [path_visualizer] [debug] current_path_x:6.897718927226474, current_path_y:1.9818331101380602,current_path_yaw:2.295779247 +[2026-10-08 18:14:34.389] [path_visualizer] [debug] current_cmd_angular_z:1.1349627690153055 +[2026-10-08 18:14:34.433] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.433] [path_visualizer] [debug] current_pose_x:6.767300751068905, current_pose_y:1.8512224324663995,current_pose_yaw:1.2668248414993288 +[2026-10-08 18:14:34.433] [path_visualizer] [debug] current_path_x:6.897718927226474, current_path_y:1.9818331101380602,current_path_yaw:2.295779247 +[2026-10-08 18:14:34.433] [path_visualizer] [debug] current_cmd_angular_z:1.09145999500555 +[2026-10-08 18:14:34.488] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.488] [path_visualizer] [debug] current_pose_x:6.767300751068905, current_pose_y:1.8512224324663995,current_pose_yaw:1.2668248414993288 +[2026-10-08 18:14:34.488] [path_visualizer] [debug] current_path_x:6.897718927226474, current_path_y:1.9818331101380602,current_path_yaw:2.295779247 +[2026-10-08 18:14:34.488] [path_visualizer] [debug] current_cmd_angular_z:1.09145999500555 +[2026-10-08 18:14:34.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.538] [path_visualizer] [debug] current_pose_x:6.767300751068905, current_pose_y:1.8512224324663995,current_pose_yaw:1.2668248414993288 +[2026-10-08 18:14:34.538] [path_visualizer] [debug] current_path_x:6.897718927226474, current_path_y:1.9818331101380602,current_path_yaw:2.295779247 +[2026-10-08 18:14:34.538] [path_visualizer] [debug] current_cmd_angular_z:1.09145999500555 +[2026-10-08 18:14:34.583] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.583] [path_visualizer] [debug] current_pose_x:6.734771762911208, current_pose_y:1.8870168319237044,current_pose_yaw:1.3032143115997314 +[2026-10-08 18:14:34.583] [path_visualizer] [debug] current_path_x:6.897718927226474, current_path_y:1.9818331101380602,current_path_yaw:2.295779247 +[2026-10-08 18:14:34.583] [path_visualizer] [debug] current_cmd_angular_z:1.0345961818945646 +[2026-10-08 18:14:34.638] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.638] [path_visualizer] [debug] current_pose_x:6.734771762911208, current_pose_y:1.8870168319237044,current_pose_yaw:1.3032143115997314 +[2026-10-08 18:14:34.638] [path_visualizer] [debug] current_path_x:6.897718927226474, current_path_y:1.9818331101380602,current_path_yaw:2.295779247 +[2026-10-08 18:14:34.638] [path_visualizer] [debug] current_cmd_angular_z:1.0345961818945646 +[2026-10-08 18:14:34.689] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.689] [path_visualizer] [debug] current_pose_x:6.734771762911208, current_pose_y:1.8870168319237044,current_pose_yaw:1.3032143115997314 +[2026-10-08 18:14:34.689] [path_visualizer] [debug] current_path_x:6.897718927226474, current_path_y:1.9818331101380602,current_path_yaw:2.295779247 +[2026-10-08 18:14:34.689] [path_visualizer] [debug] current_cmd_angular_z:1.0345961818945646 +[2026-10-08 18:14:34.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.738] [path_visualizer] [debug] current_pose_x:6.701138520356542, current_pose_y:1.921514263729804,current_pose_yaw:1.3394414186477663 +[2026-10-08 18:14:34.738] [path_visualizer] [debug] current_path_x:6.8017178482760094, current_path_y:2.089659120302991,current_path_yaw:2.416609734 +[2026-10-08 18:14:34.738] [path_visualizer] [debug] current_cmd_angular_z:1.1433923620773756 +[2026-10-08 18:14:34.783] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.783] [path_visualizer] [debug] current_pose_x:6.701138520356542, current_pose_y:1.921514263729804,current_pose_yaw:1.3394414186477663 +[2026-10-08 18:14:34.783] [path_visualizer] [debug] current_path_x:6.8017178482760094, current_path_y:2.089659120302991,current_path_yaw:2.416609734 +[2026-10-08 18:14:34.783] [path_visualizer] [debug] current_cmd_angular_z:1.1433923620773756 +[2026-10-08 18:14:34.836] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.836] [path_visualizer] [debug] current_pose_x:6.668092893843761, current_pose_y:1.9541552448700013,current_pose_yaw:1.3739924430847168 +[2026-10-08 18:14:34.836] [path_visualizer] [debug] current_path_x:6.8017178482760094, current_path_y:2.089659120302991,current_path_yaw:2.416609734 +[2026-10-08 18:14:34.836] [path_visualizer] [debug] current_cmd_angular_z:1.0973451137092347 +[2026-10-08 18:14:34.892] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.892] [path_visualizer] [debug] current_pose_x:6.668092893843761, current_pose_y:1.9541552448700013,current_pose_yaw:1.3739924430847168 +[2026-10-08 18:14:34.892] [path_visualizer] [debug] current_path_x:6.8017178482760094, current_path_y:2.089659120302991,current_path_yaw:2.416609734 +[2026-10-08 18:14:34.892] [path_visualizer] [debug] current_cmd_angular_z:1.0973451137092347 +[2026-10-08 18:14:34.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.938] [path_visualizer] [debug] current_pose_x:6.668092893843761, current_pose_y:1.9541552448700013,current_pose_yaw:1.3739924430847168 +[2026-10-08 18:14:34.938] [path_visualizer] [debug] current_path_x:6.8017178482760094, current_path_y:2.089659120302991,current_path_yaw:2.416609734 +[2026-10-08 18:14:34.938] [path_visualizer] [debug] current_cmd_angular_z:1.0973451137092347 +[2026-10-08 18:14:34.987] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:34.987] [path_visualizer] [debug] current_pose_x:6.631669925057375, current_pose_y:1.9863021855891496,current_pose_yaw:1.4106336832046509 +[2026-10-08 18:14:34.987] [path_visualizer] [debug] current_path_x:6.682573515016003, current_path_y:2.1714911901208005,current_path_yaw:2.5374402204999997 +[2026-10-08 18:14:34.987] [path_visualizer] [debug] current_cmd_angular_z:1.2475965696153968 +[2026-10-08 18:14:35.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.038] [path_visualizer] [debug] current_pose_x:6.631669925057375, current_pose_y:1.9863021855891496,current_pose_yaw:1.4106336832046509 +[2026-10-08 18:14:35.038] [path_visualizer] [debug] current_path_x:6.682573515016003, current_path_y:2.1714911901208005,current_path_yaw:2.5374402204999997 +[2026-10-08 18:14:35.038] [path_visualizer] [debug] current_cmd_angular_z:1.2475965696153968 +[2026-10-08 18:14:35.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.087] [path_visualizer] [debug] current_pose_x:6.594347683727335, current_pose_y:2.0170254062195476,current_pose_yaw:1.4470312595367432 +[2026-10-08 18:14:35.087] [path_visualizer] [debug] current_path_x:6.682573515016003, current_path_y:2.1714911901208005,current_path_yaw:2.5374402204999997 +[2026-10-08 18:14:35.087] [path_visualizer] [debug] current_cmd_angular_z:1.2027521535507775 +[2026-10-08 18:14:35.136] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.136] [path_visualizer] [debug] current_pose_x:6.594347683727335, current_pose_y:2.0170254062195476,current_pose_yaw:1.4470312595367432 +[2026-10-08 18:14:35.136] [path_visualizer] [debug] current_path_x:6.682573515016003, current_path_y:2.1714911901208005,current_path_yaw:2.5374402204999997 +[2026-10-08 18:14:35.136] [path_visualizer] [debug] current_cmd_angular_z:1.2027521535507775 +[2026-10-08 18:14:35.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.189] [path_visualizer] [debug] current_pose_x:6.594347683727335, current_pose_y:2.0170254062195476,current_pose_yaw:1.4470312595367432 +[2026-10-08 18:14:35.189] [path_visualizer] [debug] current_path_x:6.682573515016003, current_path_y:2.1714911901208005,current_path_yaw:2.5374402204999997 +[2026-10-08 18:14:35.189] [path_visualizer] [debug] current_cmd_angular_z:1.2027521535507775 +[2026-10-08 18:14:35.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.238] [path_visualizer] [debug] current_pose_x:6.552256046415158, current_pose_y:2.0470767794472176,current_pose_yaw:1.4867291450500488 +[2026-10-08 18:14:35.238] [path_visualizer] [debug] current_path_x:6.682573515016003, current_path_y:2.1714911901208005,current_path_yaw:2.5374402204999997 +[2026-10-08 18:14:35.238] [path_visualizer] [debug] current_cmd_angular_z:1.1445336237433796 +[2026-10-08 18:14:35.285] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.285] [path_visualizer] [debug] current_pose_x:6.552256046415158, current_pose_y:2.0470767794472176,current_pose_yaw:1.4867291450500488 +[2026-10-08 18:14:35.285] [path_visualizer] [debug] current_path_x:6.682573515016003, current_path_y:2.1714911901208005,current_path_yaw:2.5374402204999997 +[2026-10-08 18:14:35.285] [path_visualizer] [debug] current_cmd_angular_z:1.1445336237433796 +[2026-10-08 18:14:35.338] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.338] [path_visualizer] [debug] current_pose_x:6.552256046415158, current_pose_y:2.0470767794472176,current_pose_yaw:1.4867291450500488 +[2026-10-08 18:14:35.338] [path_visualizer] [debug] current_path_x:6.682573515016003, current_path_y:2.1714911901208005,current_path_yaw:2.5374402204999997 +[2026-10-08 18:14:35.338] [path_visualizer] [debug] current_cmd_angular_z:1.1445336237433796 +[2026-10-08 18:14:35.389] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.389] [path_visualizer] [debug] current_pose_x:6.509246340650439, current_pose_y:2.075423718486866,current_pose_yaw:1.5262051820755005 +[2026-10-08 18:14:35.389] [path_visualizer] [debug] current_path_x:6.563429181755996, current_path_y:2.2533232599386106,current_path_yaw:2.658270707 +[2026-10-08 18:14:35.389] [path_visualizer] [debug] current_cmd_angular_z:1.2520564240121173 +[2026-10-08 18:14:35.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.438] [path_visualizer] [debug] current_pose_x:6.509246340650439, current_pose_y:2.075423718486866,current_pose_yaw:1.5262051820755005 +[2026-10-08 18:14:35.438] [path_visualizer] [debug] current_path_x:6.563429181755996, current_path_y:2.2533232599386106,current_path_yaw:2.658270707 +[2026-10-08 18:14:35.438] [path_visualizer] [debug] current_cmd_angular_z:1.2520564240121173 +[2026-10-08 18:14:35.486] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.486] [path_visualizer] [debug] current_pose_x:6.467044016622635, current_pose_y:2.1018348688390907,current_pose_yaw:1.5640040636062624 +[2026-10-08 18:14:35.486] [path_visualizer] [debug] current_path_x:6.563429181755996, current_path_y:2.2533232599386106,current_path_yaw:2.658270707 +[2026-10-08 18:14:35.486] [path_visualizer] [debug] current_cmd_angular_z:1.2042889699971855 +[2026-10-08 18:14:35.542] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.542] [path_visualizer] [debug] current_pose_x:6.467044016622635, current_pose_y:2.1018348688390907,current_pose_yaw:1.5640040636062624 +[2026-10-08 18:14:35.542] [path_visualizer] [debug] current_path_x:6.563429181755996, current_path_y:2.2533232599386106,current_path_yaw:2.658270707 +[2026-10-08 18:14:35.542] [path_visualizer] [debug] current_cmd_angular_z:1.2042889699971855 +[2026-10-08 18:14:35.586] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.586] [path_visualizer] [debug] current_pose_x:6.467044016622635, current_pose_y:2.1018348688390907,current_pose_yaw:1.5640040636062624 +[2026-10-08 18:14:35.586] [path_visualizer] [debug] current_path_x:6.563429181755996, current_path_y:2.2533232599386106,current_path_yaw:2.658270707 +[2026-10-08 18:14:35.586] [path_visualizer] [debug] current_cmd_angular_z:1.2042889699971855 +[2026-10-08 18:14:35.639] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.639] [path_visualizer] [debug] current_pose_x:6.4216385239301985, current_pose_y:2.126718666241084,current_pose_yaw:1.6037889719009397 +[2026-10-08 18:14:35.639] [path_visualizer] [debug] current_path_x:6.428065807727204, current_path_y:2.304405484865894,current_path_yaw:2.7791011935 +[2026-10-08 18:14:35.639] [path_visualizer] [debug] current_cmd_angular_z:1.3543701364337182 +[2026-10-08 18:14:35.685] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.685] [path_visualizer] [debug] current_pose_x:6.4216385239301985, current_pose_y:2.126718666241084,current_pose_yaw:1.6037889719009397 +[2026-10-08 18:14:35.685] [path_visualizer] [debug] current_path_x:6.428065807727204, current_path_y:2.304405484865894,current_path_yaw:2.7791011935 +[2026-10-08 18:14:35.685] [path_visualizer] [debug] current_cmd_angular_z:1.3543701364337182 +[2026-10-08 18:14:35.735] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.735] [path_visualizer] [debug] current_pose_x:6.375554838782151, current_pose_y:2.1494545901554734,current_pose_yaw:1.6433086395263672 +[2026-10-08 18:14:35.735] [path_visualizer] [debug] current_path_x:6.428065807727204, current_path_y:2.304405484865894,current_path_yaw:2.7791011935 +[2026-10-08 18:14:35.735] [path_visualizer] [debug] current_cmd_angular_z:1.3069178496462244 +[2026-10-08 18:14:35.787] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.787] [path_visualizer] [debug] current_pose_x:6.375554838782151, current_pose_y:2.1494545901554734,current_pose_yaw:1.6433086395263672 +[2026-10-08 18:14:35.787] [path_visualizer] [debug] current_path_x:6.428065807727204, current_path_y:2.304405484865894,current_path_yaw:2.7791011935 +[2026-10-08 18:14:35.787] [path_visualizer] [debug] current_cmd_angular_z:1.3069178496462244 +[2026-10-08 18:14:35.838] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.838] [path_visualizer] [debug] current_pose_x:6.375554838782151, current_pose_y:2.1494545901554734,current_pose_yaw:1.6433086395263672 +[2026-10-08 18:14:35.838] [path_visualizer] [debug] current_path_x:6.428065807727204, current_path_y:2.304405484865894,current_path_yaw:2.7791011935 +[2026-10-08 18:14:35.838] [path_visualizer] [debug] current_cmd_angular_z:1.3069178496462244 +[2026-10-08 18:14:35.890] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.890] [path_visualizer] [debug] current_pose_x:6.325704310460116, current_pose_y:2.1683758628691523,current_pose_yaw:1.6856232881546023 +[2026-10-08 18:14:35.890] [path_visualizer] [debug] current_path_x:6.428065807727204, current_path_y:2.304405484865894,current_path_yaw:2.7791011935 +[2026-10-08 18:14:35.890] [path_visualizer] [debug] current_cmd_angular_z:1.2426563182831378 +[2026-10-08 18:14:35.933] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.933] [path_visualizer] [debug] current_pose_x:6.325704310460116, current_pose_y:2.1683758628691523,current_pose_yaw:1.6856232881546023 +[2026-10-08 18:14:35.933] [path_visualizer] [debug] current_path_x:6.428065807727204, current_path_y:2.304405484865894,current_path_yaw:2.7791011935 +[2026-10-08 18:14:35.933] [path_visualizer] [debug] current_cmd_angular_z:1.2426563182831378 +[2026-10-08 18:14:35.986] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:35.986] [path_visualizer] [debug] current_pose_x:6.325704310460116, current_pose_y:2.1683758628691523,current_pose_yaw:1.6856232881546023 +[2026-10-08 18:14:35.986] [path_visualizer] [debug] current_path_x:6.428065807727204, current_path_y:2.304405484865894,current_path_yaw:2.7791011935 +[2026-10-08 18:14:35.986] [path_visualizer] [debug] current_cmd_angular_z:1.2426563182831378 +[2026-10-08 18:14:36.032] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.032] [path_visualizer] [debug] current_pose_x:6.27613493578938, current_pose_y:2.1847961850289255,current_pose_yaw:1.727378249168396 +[2026-10-08 18:14:36.032] [path_visualizer] [debug] current_path_x:6.292702433698413, current_path_y:2.355487709793178,current_path_yaw:2.89993168 +[2026-10-08 18:14:36.032] [path_visualizer] [debug] current_cmd_angular_z:1.3469053773737032 +[2026-10-08 18:14:36.086] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.086] [path_visualizer] [debug] current_pose_x:6.27613493578938, current_pose_y:2.1847961850289255,current_pose_yaw:1.727378249168396 +[2026-10-08 18:14:36.086] [path_visualizer] [debug] current_path_x:6.292702433698413, current_path_y:2.355487709793178,current_path_yaw:2.89993168 +[2026-10-08 18:14:36.086] [path_visualizer] [debug] current_cmd_angular_z:1.3469053773737032 +[2026-10-08 18:14:36.136] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.136] [path_visualizer] [debug] current_pose_x:6.2288139185040095, current_pose_y:2.1998121645773967,current_pose_yaw:1.7668033838272095 +[2026-10-08 18:14:36.136] [path_visualizer] [debug] current_path_x:6.292702433698413, current_path_y:2.355487709793178,current_path_yaw:2.89993168 +[2026-10-08 18:14:36.136] [path_visualizer] [debug] current_cmd_angular_z:1.2953380871919093 +[2026-10-08 18:14:36.188] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.188] [path_visualizer] [debug] current_pose_x:6.2288139185040095, current_pose_y:2.1998121645773967,current_pose_yaw:1.7668033838272095 +[2026-10-08 18:14:36.188] [path_visualizer] [debug] current_path_x:6.292702433698413, current_path_y:2.355487709793178,current_path_yaw:2.89993168 +[2026-10-08 18:14:36.188] [path_visualizer] [debug] current_cmd_angular_z:1.2953380871919093 +[2026-10-08 18:14:36.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.238] [path_visualizer] [debug] current_pose_x:6.2288139185040095, current_pose_y:2.1998121645773967,current_pose_yaw:1.7668033838272095 +[2026-10-08 18:14:36.238] [path_visualizer] [debug] current_path_x:6.292702433698413, current_path_y:2.355487709793178,current_path_yaw:2.89993168 +[2026-10-08 18:14:36.238] [path_visualizer] [debug] current_cmd_angular_z:1.2953380871919093 +[2026-10-08 18:14:36.288] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.288] [path_visualizer] [debug] current_pose_x:6.17898509652506, current_pose_y:2.211902864922651,current_pose_yaw:1.8088359832763674 +[2026-10-08 18:14:36.288] [path_visualizer] [debug] current_path_x:6.148986897701613, current_path_y:2.3728514474139244,current_path_yaw:3.020762167 +[2026-10-08 18:14:36.289] [path_visualizer] [debug] current_cmd_angular_z:1.4414213654250276 +[2026-10-08 18:14:36.333] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.333] [path_visualizer] [debug] current_pose_x:6.17898509652506, current_pose_y:2.211902864922651,current_pose_yaw:1.8088359832763674 +[2026-10-08 18:14:36.333] [path_visualizer] [debug] current_path_x:6.148986897701613, current_path_y:2.3728514474139244,current_path_yaw:3.020762167 +[2026-10-08 18:14:36.333] [path_visualizer] [debug] current_cmd_angular_z:1.4414213654250276 +[2026-10-08 18:14:36.391] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.391] [path_visualizer] [debug] current_pose_x:6.17898509652506, current_pose_y:2.211902864922651,current_pose_yaw:1.8088359832763674 +[2026-10-08 18:14:36.391] [path_visualizer] [debug] current_path_x:6.148986897701613, current_path_y:2.3728514474139244,current_path_yaw:3.020762167 +[2026-10-08 18:14:36.391] [path_visualizer] [debug] current_cmd_angular_z:1.4414213654250276 +[2026-10-08 18:14:36.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.438] [path_visualizer] [debug] current_pose_x:6.13084987855898, current_pose_y:2.2226387309893356,current_pose_yaw:1.8493719100952146 +[2026-10-08 18:14:36.438] [path_visualizer] [debug] current_path_x:6.148986897701613, current_path_y:2.3728514474139244,current_path_yaw:3.020762167 +[2026-10-08 18:14:36.438] [path_visualizer] [debug] current_cmd_angular_z:1.3922674343378647 +[2026-10-08 18:14:36.486] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.486] [path_visualizer] [debug] current_pose_x:6.13084987855898, current_pose_y:2.2226387309893356,current_pose_yaw:1.8493719100952146 +[2026-10-08 18:14:36.486] [path_visualizer] [debug] current_path_x:6.148986897701613, current_path_y:2.3728514474139244,current_path_yaw:3.020762167 +[2026-10-08 18:14:36.486] [path_visualizer] [debug] current_cmd_angular_z:1.3922674343378647 +[2026-10-08 18:14:36.533] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.533] [path_visualizer] [debug] current_pose_x:6.079043228880309, current_pose_y:2.2293316594404136,current_pose_yaw:1.8937125205993652 +[2026-10-08 18:14:36.533] [path_visualizer] [debug] current_path_x:6.148986897701613, current_path_y:2.3728514474139244,current_path_yaw:3.020762167 +[2026-10-08 18:14:36.533] [path_visualizer] [debug] current_cmd_angular_z:1.3259140913428096 +[2026-10-08 18:14:36.589] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.589] [path_visualizer] [debug] current_pose_x:6.079043228880309, current_pose_y:2.2293316594404136,current_pose_yaw:1.8937125205993652 +[2026-10-08 18:14:36.589] [path_visualizer] [debug] current_path_x:6.148986897701613, current_path_y:2.3728514474139244,current_path_yaw:3.020762167 +[2026-10-08 18:14:36.589] [path_visualizer] [debug] current_cmd_angular_z:1.3259140913428096 +[2026-10-08 18:14:36.633] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.633] [path_visualizer] [debug] current_pose_x:6.079043228880309, current_pose_y:2.2293316594404136,current_pose_yaw:1.8937125205993652 +[2026-10-08 18:14:36.633] [path_visualizer] [debug] current_path_x:6.148986897701613, current_path_y:2.3728514474139244,current_path_yaw:3.020762167 +[2026-10-08 18:14:36.633] [path_visualizer] [debug] current_cmd_angular_z:1.3259140913428096 +[2026-10-08 18:14:36.685] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.685] [path_visualizer] [debug] current_pose_x:6.028063990757466, current_pose_y:2.2343129754270654,current_pose_yaw:1.9374593496322632 +[2026-10-08 18:14:36.685] [path_visualizer] [debug] current_path_x:6.005271361704812, current_path_y:2.3902151850346707,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:36.685] [path_visualizer] [debug] current_cmd_angular_z:1.4302383348619023 +[2026-10-08 18:14:36.733] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.733] [path_visualizer] [debug] current_pose_x:6.028063990757466, current_pose_y:2.2343129754270654,current_pose_yaw:1.9374593496322632 +[2026-10-08 18:14:36.733] [path_visualizer] [debug] current_path_x:6.005271361704812, current_path_y:2.3902151850346707,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:36.733] [path_visualizer] [debug] current_cmd_angular_z:1.4302383348619023 +[2026-10-08 18:14:36.789] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.789] [path_visualizer] [debug] current_pose_x:5.979704922671852, current_pose_y:2.238682536235446,current_pose_yaw:1.9786299467086792 +[2026-10-08 18:14:36.789] [path_visualizer] [debug] current_path_x:6.005271361704812, current_path_y:2.3902151850346707,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:36.789] [path_visualizer] [debug] current_cmd_angular_z:1.3788747522219396 +[2026-10-08 18:14:36.834] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.834] [path_visualizer] [debug] current_pose_x:5.979704922671852, current_pose_y:2.238682536235446,current_pose_yaw:1.9786299467086792 +[2026-10-08 18:14:36.834] [path_visualizer] [debug] current_path_x:6.005271361704812, current_path_y:2.3902151850346707,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:36.834] [path_visualizer] [debug] current_cmd_angular_z:1.3788747522219396 +[2026-10-08 18:14:36.888] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.888] [path_visualizer] [debug] current_pose_x:5.979704922671852, current_pose_y:2.238682536235446,current_pose_yaw:1.9786299467086792 +[2026-10-08 18:14:36.888] [path_visualizer] [debug] current_path_x:6.005271361704812, current_path_y:2.3902151850346707,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:36.889] [path_visualizer] [debug] current_cmd_angular_z:1.3788747522219396 +[2026-10-08 18:14:36.934] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.934] [path_visualizer] [debug] current_pose_x:5.92912583932509, current_pose_y:2.239442116446874,current_pose_yaw:2.0226566791534424 +[2026-10-08 18:14:36.934] [path_visualizer] [debug] current_path_x:6.005271361704812, current_path_y:2.3902151850346707,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:36.934] [path_visualizer] [debug] current_cmd_angular_z:1.3139209561479679 +[2026-10-08 18:14:36.989] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:36.989] [path_visualizer] [debug] current_pose_x:5.92912583932509, current_pose_y:2.239442116446874,current_pose_yaw:2.0226566791534424 +[2026-10-08 18:14:36.989] [path_visualizer] [debug] current_path_x:6.005271361704812, current_path_y:2.3902151850346707,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:36.989] [path_visualizer] [debug] current_cmd_angular_z:1.3139209561479679 +[2026-10-08 18:14:37.035] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.035] [path_visualizer] [debug] current_pose_x:5.880140949714251, current_pose_y:2.239025287257601,current_pose_yaw:2.0652692317962646 +[2026-10-08 18:14:37.035] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.035] [path_visualizer] [debug] current_cmd_angular_z:1.2481017158464782 +[2026-10-08 18:14:37.087] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.087] [path_visualizer] [debug] current_pose_x:5.880140949714251, current_pose_y:2.239025287257601,current_pose_yaw:2.0652692317962646 +[2026-10-08 18:14:37.087] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.087] [path_visualizer] [debug] current_cmd_angular_z:1.2481017158464782 +[2026-10-08 18:14:37.140] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.140] [path_visualizer] [debug] current_pose_x:5.880140949714251, current_pose_y:2.239025287257601,current_pose_yaw:2.0652692317962646 +[2026-10-08 18:14:37.140] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.140] [path_visualizer] [debug] current_cmd_angular_z:1.2481017158464782 +[2026-10-08 18:14:37.189] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.189] [path_visualizer] [debug] current_pose_x:5.833850659502146, current_pose_y:2.2386454597308667,current_pose_yaw:2.105198860168457 +[2026-10-08 18:14:37.189] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.189] [path_visualizer] [debug] current_cmd_angular_z:1.1864539921395558 +[2026-10-08 18:14:37.239] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.239] [path_visualizer] [debug] current_pose_x:5.833850659502146, current_pose_y:2.2386454597308667,current_pose_yaw:2.105198860168457 +[2026-10-08 18:14:37.239] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.239] [path_visualizer] [debug] current_cmd_angular_z:1.1864539921395558 +[2026-10-08 18:14:37.290] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.290] [path_visualizer] [debug] current_pose_x:5.833850659502146, current_pose_y:2.2386454597308667,current_pose_yaw:2.105198860168457 +[2026-10-08 18:14:37.290] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.290] [path_visualizer] [debug] current_cmd_angular_z:1.1864539921395558 +[2026-10-08 18:14:37.339] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.339] [path_visualizer] [debug] current_pose_x:5.789413426987288, current_pose_y:2.2378593389593178,current_pose_yaw:2.14345645904541 +[2026-10-08 18:14:37.339] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.339] [path_visualizer] [debug] current_cmd_angular_z:1.1263058890710582 +[2026-10-08 18:14:37.385] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.385] [path_visualizer] [debug] current_pose_x:5.789413426987288, current_pose_y:2.2378593389593178,current_pose_yaw:2.14345645904541 +[2026-10-08 18:14:37.385] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.385] [path_visualizer] [debug] current_cmd_angular_z:1.1263058890710582 +[2026-10-08 18:14:37.436] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.436] [path_visualizer] [debug] current_pose_x:5.746978076865002, current_pose_y:2.237022229740534,current_pose_yaw:2.179685592651367 +[2026-10-08 18:14:37.436] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.436] [path_visualizer] [debug] current_cmd_angular_z:1.0691094564108872 +[2026-10-08 18:14:37.484] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.484] [path_visualizer] [debug] current_pose_x:5.746978076865002, current_pose_y:2.237022229740534,current_pose_yaw:2.179685592651367 +[2026-10-08 18:14:37.484] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.485] [path_visualizer] [debug] current_cmd_angular_z:1.0691094564108872 +[2026-10-08 18:14:37.538] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.538] [path_visualizer] [debug] current_pose_x:5.746978076865002, current_pose_y:2.237022229740534,current_pose_yaw:2.179685592651367 +[2026-10-08 18:14:37.538] [path_visualizer] [debug] current_path_x:5.809977984099978, current_path_y:2.39021514871834,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.538] [path_visualizer] [debug] current_cmd_angular_z:1.0691094564108872 +[2026-10-08 18:14:37.586] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.586] [path_visualizer] [debug] current_pose_x:5.706065932524385, current_pose_y:2.2359837840015375,current_pose_yaw:2.2144055366516113 +[2026-10-08 18:14:37.586] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.586] [path_visualizer] [debug] current_cmd_angular_z:1.0136904776431428 +[2026-10-08 18:14:37.633] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.633] [path_visualizer] [debug] current_pose_x:5.706065932524385, current_pose_y:2.2359837840015375,current_pose_yaw:2.2144055366516113 +[2026-10-08 18:14:37.633] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.633] [path_visualizer] [debug] current_cmd_angular_z:1.0136904776431428 +[2026-10-08 18:14:37.684] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.684] [path_visualizer] [debug] current_pose_x:5.667225780909993, current_pose_y:2.235580133663582,current_pose_yaw:2.246774673461914 +[2026-10-08 18:14:37.684] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.685] [path_visualizer] [debug] current_cmd_angular_z:0.9634701391565892 +[2026-10-08 18:14:37.736] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.736] [path_visualizer] [debug] current_pose_x:5.667225780909993, current_pose_y:2.235580133663582,current_pose_yaw:2.246774673461914 +[2026-10-08 18:14:37.736] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.736] [path_visualizer] [debug] current_cmd_angular_z:0.9634701391565892 +[2026-10-08 18:14:37.783] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.783] [path_visualizer] [debug] current_pose_x:5.667225780909993, current_pose_y:2.235580133663582,current_pose_yaw:2.246774673461914 +[2026-10-08 18:14:37.783] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.783] [path_visualizer] [debug] current_cmd_angular_z:0.9634701391565892 +[2026-10-08 18:14:37.841] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.841] [path_visualizer] [debug] current_pose_x:5.629932739954701, current_pose_y:2.235679610781635,current_pose_yaw:2.277135133743286 +[2026-10-08 18:14:37.841] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.841] [path_visualizer] [debug] current_cmd_angular_z:0.917591268378431 +[2026-10-08 18:14:37.888] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.888] [path_visualizer] [debug] current_pose_x:5.629932739954701, current_pose_y:2.235679610781635,current_pose_yaw:2.277135133743286 +[2026-10-08 18:14:37.888] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.888] [path_visualizer] [debug] current_cmd_angular_z:0.917591268378431 +[2026-10-08 18:14:37.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.938] [path_visualizer] [debug] current_pose_x:5.629932739954701, current_pose_y:2.235679610781635,current_pose_yaw:2.277135133743286 +[2026-10-08 18:14:37.938] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.938] [path_visualizer] [debug] current_cmd_angular_z:0.917591268378431 +[2026-10-08 18:14:37.984] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:37.984] [path_visualizer] [debug] current_pose_x:5.593329290339206, current_pose_y:2.235613526508951,current_pose_yaw:2.3064749240875244 +[2026-10-08 18:14:37.984] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:37.985] [path_visualizer] [debug] current_cmd_angular_z:0.8728391063004382 +[2026-10-08 18:14:38.037] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.037] [path_visualizer] [debug] current_pose_x:5.593329290339206, current_pose_y:2.235613526508951,current_pose_yaw:2.3064749240875244 +[2026-10-08 18:14:38.037] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.037] [path_visualizer] [debug] current_cmd_angular_z:0.8728391063004382 +[2026-10-08 18:14:38.089] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.089] [path_visualizer] [debug] current_pose_x:5.557384022124781, current_pose_y:2.235491852137156,current_pose_yaw:2.3345837593078613 +[2026-10-08 18:14:38.089] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.089] [path_visualizer] [debug] current_cmd_angular_z:0.8298149790627065 +[2026-10-08 18:14:38.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.138] [path_visualizer] [debug] current_pose_x:5.557384022124781, current_pose_y:2.235491852137156,current_pose_yaw:2.3345837593078613 +[2026-10-08 18:14:38.138] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.138] [path_visualizer] [debug] current_cmd_angular_z:0.8298149790627065 +[2026-10-08 18:14:38.186] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.186] [path_visualizer] [debug] current_pose_x:5.557384022124781, current_pose_y:2.235491852137156,current_pose_yaw:2.3345837593078613 +[2026-10-08 18:14:38.186] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.187] [path_visualizer] [debug] current_cmd_angular_z:0.8298149790627065 +[2026-10-08 18:14:38.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.238] [path_visualizer] [debug] current_pose_x:5.5219707914999505, current_pose_y:2.235078001446708,current_pose_yaw:2.3617544174194336 +[2026-10-08 18:14:38.238] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.238] [path_visualizer] [debug] current_cmd_angular_z:0.7874677716351421 +[2026-10-08 18:14:38.288] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.288] [path_visualizer] [debug] current_pose_x:5.5219707914999505, current_pose_y:2.235078001446708,current_pose_yaw:2.3617544174194336 +[2026-10-08 18:14:38.288] [path_visualizer] [debug] current_path_x:5.614684606495144, current_path_y:2.3902151124020086,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.288] [path_visualizer] [debug] current_cmd_angular_z:0.7874677716351421 +[2026-10-08 18:14:38.337] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.338] [path_visualizer] [debug] current_pose_x:5.487428102121736, current_pose_y:2.2348858953175053,current_pose_yaw:2.3873813152313232 +[2026-10-08 18:14:38.338] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.338] [path_visualizer] [debug] current_cmd_angular_z:0.7480346527271646 +[2026-10-08 18:14:38.386] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.386] [path_visualizer] [debug] current_pose_x:5.487428102121736, current_pose_y:2.2348858953175053,current_pose_yaw:2.3873813152313232 +[2026-10-08 18:14:38.386] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.386] [path_visualizer] [debug] current_cmd_angular_z:0.7480346527271646 +[2026-10-08 18:14:38.438] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.438] [path_visualizer] [debug] current_pose_x:5.487428102121736, current_pose_y:2.2348858953175053,current_pose_yaw:2.3873813152313232 +[2026-10-08 18:14:38.438] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.438] [path_visualizer] [debug] current_cmd_angular_z:0.7480346527271646 +[2026-10-08 18:14:38.490] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.490] [path_visualizer] [debug] current_pose_x:5.453875534481411, current_pose_y:2.234947181447105,current_pose_yaw:2.4114043712615967 +[2026-10-08 18:14:38.490] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.490] [path_visualizer] [debug] current_cmd_angular_z:0.7116878266105693 +[2026-10-08 18:14:38.535] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.535] [path_visualizer] [debug] current_pose_x:5.453875534481411, current_pose_y:2.234947181447105,current_pose_yaw:2.4114043712615967 +[2026-10-08 18:14:38.535] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.536] [path_visualizer] [debug] current_cmd_angular_z:0.7116878266105693 +[2026-10-08 18:14:38.583] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.583] [path_visualizer] [debug] current_pose_x:5.453875534481411, current_pose_y:2.234947181447105,current_pose_yaw:2.4114043712615967 +[2026-10-08 18:14:38.583] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.583] [path_visualizer] [debug] current_cmd_angular_z:0.7116878266105693 +[2026-10-08 18:14:38.637] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.637] [path_visualizer] [debug] current_pose_x:5.420878040627495, current_pose_y:2.2348662362006877,current_pose_yaw:2.434513807296753 +[2026-10-08 18:14:38.637] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.637] [path_visualizer] [debug] current_cmd_angular_z:0.6763648239453413 +[2026-10-08 18:14:38.687] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.687] [path_visualizer] [debug] current_pose_x:5.420878040627495, current_pose_y:2.2348662362006877,current_pose_yaw:2.434513807296753 +[2026-10-08 18:14:38.687] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.687] [path_visualizer] [debug] current_cmd_angular_z:0.6763648239453413 +[2026-10-08 18:14:38.737] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.737] [path_visualizer] [debug] current_pose_x:5.3885392591819645, current_pose_y:2.234848117522116,current_pose_yaw:2.456502914428711 +[2026-10-08 18:14:38.737] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.737] [path_visualizer] [debug] current_cmd_angular_z:0.6429051866963901 +[2026-10-08 18:14:38.787] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.787] [path_visualizer] [debug] current_pose_x:5.3885392591819645, current_pose_y:2.234848117522116,current_pose_yaw:2.456502914428711 +[2026-10-08 18:14:38.787] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.787] [path_visualizer] [debug] current_cmd_angular_z:0.6429051866963901 +[2026-10-08 18:14:38.839] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.839] [path_visualizer] [debug] current_pose_x:5.3885392591819645, current_pose_y:2.234848117522116,current_pose_yaw:2.456502914428711 +[2026-10-08 18:14:38.839] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.839] [path_visualizer] [debug] current_cmd_angular_z:0.6429051866963901 +[2026-10-08 18:14:38.884] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.884] [path_visualizer] [debug] current_pose_x:5.3566663977845455, current_pose_y:2.234729257668511,current_pose_yaw:2.477675199508667 +[2026-10-08 18:14:38.884] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.884] [path_visualizer] [debug] current_cmd_angular_z:0.6104285995914136 +[2026-10-08 18:14:38.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.938] [path_visualizer] [debug] current_pose_x:5.3566663977845455, current_pose_y:2.234729257668511,current_pose_yaw:2.477675199508667 +[2026-10-08 18:14:38.938] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.938] [path_visualizer] [debug] current_cmd_angular_z:0.6104285995914136 +[2026-10-08 18:14:38.988] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:38.988] [path_visualizer] [debug] current_pose_x:5.325516825694924, current_pose_y:2.2349248529595984,current_pose_yaw:2.4975433349609375 +[2026-10-08 18:14:38.988] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:38.988] [path_visualizer] [debug] current_cmd_angular_z:0.5807394731024509 +[2026-10-08 18:14:39.033] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.033] [path_visualizer] [debug] current_pose_x:5.325516825694924, current_pose_y:2.2349248529595984,current_pose_yaw:2.4975433349609375 +[2026-10-08 18:14:39.033] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.033] [path_visualizer] [debug] current_cmd_angular_z:0.5807394731024509 +[2026-10-08 18:14:39.084] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.084] [path_visualizer] [debug] current_pose_x:5.325516825694924, current_pose_y:2.2349248529595984,current_pose_yaw:2.4975433349609375 +[2026-10-08 18:14:39.084] [path_visualizer] [debug] current_path_x:5.419391228890309, current_path_y:2.3902150760856777,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.084] [path_visualizer] [debug] current_cmd_angular_z:0.5807394731024509 +[2026-10-08 18:14:39.134] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.134] [path_visualizer] [debug] current_pose_x:5.294901448103516, current_pose_y:2.2352728764530925,current_pose_yaw:2.5164098739624023 +[2026-10-08 18:14:39.134] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.134] [path_visualizer] [debug] current_cmd_angular_z:0.5529629820985907 +[2026-10-08 18:14:39.184] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.184] [path_visualizer] [debug] current_pose_x:5.294901448103516, current_pose_y:2.2352728764530925,current_pose_yaw:2.5164098739624023 +[2026-10-08 18:14:39.184] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.184] [path_visualizer] [debug] current_cmd_angular_z:0.5529629820985907 +[2026-10-08 18:14:39.234] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.234] [path_visualizer] [debug] current_pose_x:5.294901448103516, current_pose_y:2.2352728764530925,current_pose_yaw:2.5164098739624023 +[2026-10-08 18:14:39.234] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.234] [path_visualizer] [debug] current_cmd_angular_z:0.5529629820985907 +[2026-10-08 18:14:39.289] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.289] [path_visualizer] [debug] current_pose_x:5.264757659269074, current_pose_y:2.2357559298731577,current_pose_yaw:2.5343616008758545 +[2026-10-08 18:14:39.289] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.289] [path_visualizer] [debug] current_cmd_angular_z:0.526922487676887 +[2026-10-08 18:14:39.338] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.338] [path_visualizer] [debug] current_pose_x:5.264757659269074, current_pose_y:2.2357559298731577,current_pose_yaw:2.5343616008758545 +[2026-10-08 18:14:39.338] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.338] [path_visualizer] [debug] current_cmd_angular_z:0.526922487676887 +[2026-10-08 18:14:39.384] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.384] [path_visualizer] [debug] current_pose_x:5.235042279425992, current_pose_y:2.2363742436249723,current_pose_yaw:2.551454782485962 +[2026-10-08 18:14:39.384] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.384] [path_visualizer] [debug] current_cmd_angular_z:0.5025331737511616 +[2026-10-08 18:14:39.435] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.435] [path_visualizer] [debug] current_pose_x:5.235042279425992, current_pose_y:2.2363742436249723,current_pose_yaw:2.551454782485962 +[2026-10-08 18:14:39.435] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.435] [path_visualizer] [debug] current_cmd_angular_z:0.5025331737511616 +[2026-10-08 18:14:39.488] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.488] [path_visualizer] [debug] current_pose_x:5.235042279425992, current_pose_y:2.2363742436249723,current_pose_yaw:2.551454782485962 +[2026-10-08 18:14:39.488] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.488] [path_visualizer] [debug] current_cmd_angular_z:0.5025331737511616 +[2026-10-08 18:14:39.537] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.537] [path_visualizer] [debug] current_pose_x:5.205680245069214, current_pose_y:2.236984181869543,current_pose_yaw:2.5679399967193604 +[2026-10-08 18:14:39.537] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.537] [path_visualizer] [debug] current_cmd_angular_z:0.4790462259077441 +[2026-10-08 18:14:39.588] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.588] [path_visualizer] [debug] current_pose_x:5.205680245069214, current_pose_y:2.236984181869543,current_pose_yaw:2.5679399967193604 +[2026-10-08 18:14:39.588] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.588] [path_visualizer] [debug] current_cmd_angular_z:0.4790462259077441 +[2026-10-08 18:14:39.637] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.637] [path_visualizer] [debug] current_pose_x:5.176797301017549, current_pose_y:2.237879146653574,current_pose_yaw:2.5834624767303467 +[2026-10-08 18:14:39.637] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.637] [path_visualizer] [debug] current_cmd_angular_z:0.4577525382673261 +[2026-10-08 18:14:39.684] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.684] [path_visualizer] [debug] current_pose_x:5.176797301017549, current_pose_y:2.237879146653574,current_pose_yaw:2.5834624767303467 +[2026-10-08 18:14:39.684] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.684] [path_visualizer] [debug] current_cmd_angular_z:0.4577525382673261 +[2026-10-08 18:14:39.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.738] [path_visualizer] [debug] current_pose_x:5.176797301017549, current_pose_y:2.237879146653574,current_pose_yaw:2.5834624767303467 +[2026-10-08 18:14:39.738] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.738] [path_visualizer] [debug] current_cmd_angular_z:0.4577525382673261 +[2026-10-08 18:14:39.787] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.787] [path_visualizer] [debug] current_pose_x:5.148190507130465, current_pose_y:2.238997486230697,current_pose_yaw:2.5980966091156006 +[2026-10-08 18:14:39.787] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.787] [path_visualizer] [debug] current_cmd_angular_z:0.4383811013417056 +[2026-10-08 18:14:39.838] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.838] [path_visualizer] [debug] current_pose_x:5.148190507130465, current_pose_y:2.238997486230697,current_pose_yaw:2.5980966091156006 +[2026-10-08 18:14:39.838] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.838] [path_visualizer] [debug] current_cmd_angular_z:0.4383811013417056 +[2026-10-08 18:14:39.887] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.887] [path_visualizer] [debug] current_pose_x:5.148190507130465, current_pose_y:2.238997486230697,current_pose_yaw:2.5980966091156006 +[2026-10-08 18:14:39.887] [path_visualizer] [debug] current_path_x:5.224097851285475, current_path_y:2.3902150397693465,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.887] [path_visualizer] [debug] current_cmd_angular_z:0.4383811013417056 +[2026-10-08 18:14:39.937] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.937] [path_visualizer] [debug] current_pose_x:5.119744822702554, current_pose_y:2.2400887103821607,current_pose_yaw:2.6122403144836426 +[2026-10-08 18:14:39.937] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.937] [path_visualizer] [debug] current_cmd_angular_z:0.41968549752249673 +[2026-10-08 18:14:39.989] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:39.989] [path_visualizer] [debug] current_pose_x:5.119744822702554, current_pose_y:2.2400887103821607,current_pose_yaw:2.6122403144836426 +[2026-10-08 18:14:39.989] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:39.989] [path_visualizer] [debug] current_cmd_angular_z:0.41968549752249673 +[2026-10-08 18:14:40.038] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.038] [path_visualizer] [debug] current_pose_x:5.091539753280083, current_pose_y:2.2412695528291513,current_pose_yaw:2.6257853507995605 +[2026-10-08 18:14:40.038] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.038] [path_visualizer] [debug] current_cmd_angular_z:0.40212913719656956 +[2026-10-08 18:14:40.088] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.088] [path_visualizer] [debug] current_pose_x:5.091539753280083, current_pose_y:2.2412695528291513,current_pose_yaw:2.6257853507995605 +[2026-10-08 18:14:40.088] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.088] [path_visualizer] [debug] current_cmd_angular_z:0.40212913719656956 +[2026-10-08 18:14:40.138] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.138] [path_visualizer] [debug] current_pose_x:5.091539753280083, current_pose_y:2.2412695528291513,current_pose_yaw:2.6257853507995605 +[2026-10-08 18:14:40.138] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.138] [path_visualizer] [debug] current_cmd_angular_z:0.40212913719656956 +[2026-10-08 18:14:40.183] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.183] [path_visualizer] [debug] current_pose_x:5.063469699466215, current_pose_y:2.2424183211341173,current_pose_yaw:2.638892650604248 +[2026-10-08 18:14:40.183] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.183] [path_visualizer] [debug] current_cmd_angular_z:0.3851557458580904 +[2026-10-08 18:14:40.238] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.238] [path_visualizer] [debug] current_pose_x:5.063469699466215, current_pose_y:2.2424183211341173,current_pose_yaw:2.638892650604248 +[2026-10-08 18:14:40.238] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.238] [path_visualizer] [debug] current_cmd_angular_z:0.3851557458580904 +[2026-10-08 18:14:40.284] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.284] [path_visualizer] [debug] current_pose_x:5.035573926191919, current_pose_y:2.2437452318921878,current_pose_yaw:2.6513020992279053 +[2026-10-08 18:14:40.284] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.284] [path_visualizer] [debug] current_cmd_angular_z:0.3696992359085114 +[2026-10-08 18:14:40.333] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.333] [path_visualizer] [debug] current_pose_x:5.035573926191919, current_pose_y:2.2437452318921878,current_pose_yaw:2.6513020992279053 +[2026-10-08 18:14:40.333] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.333] [path_visualizer] [debug] current_cmd_angular_z:0.3696992359085114 +[2026-10-08 18:14:40.382] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.382] [path_visualizer] [debug] current_pose_x:5.035573926191919, current_pose_y:2.2437452318921878,current_pose_yaw:2.6513020992279053 +[2026-10-08 18:14:40.382] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.383] [path_visualizer] [debug] current_cmd_angular_z:0.3696992359085114 +[2026-10-08 18:14:40.443] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.443] [path_visualizer] [debug] current_pose_x:5.007924684794429, current_pose_y:2.24526631889082,current_pose_yaw:2.6630678176879883 +[2026-10-08 18:14:40.443] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.443] [path_visualizer] [debug] current_cmd_angular_z:0.3557184535752445 +[2026-10-08 18:14:40.487] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.487] [path_visualizer] [debug] current_pose_x:5.007924684794429, current_pose_y:2.24526631889082,current_pose_yaw:2.6630678176879883 +[2026-10-08 18:14:40.487] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.487] [path_visualizer] [debug] current_cmd_angular_z:0.3557184535752445 +[2026-10-08 18:14:40.541] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.541] [path_visualizer] [debug] current_pose_x:4.980340911065828, current_pose_y:2.2467506944179014,current_pose_yaw:2.674466848373413 +[2026-10-08 18:14:40.541] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.541] [path_visualizer] [debug] current_cmd_angular_z:0.34220079651679197 +[2026-10-08 18:14:40.587] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.587] [path_visualizer] [debug] current_pose_x:4.980340911065828, current_pose_y:2.2467506944179014,current_pose_yaw:2.674466848373413 +[2026-10-08 18:14:40.587] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.587] [path_visualizer] [debug] current_cmd_angular_z:0.34220079651679197 +[2026-10-08 18:14:40.640] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.640] [path_visualizer] [debug] current_pose_x:4.980340911065828, current_pose_y:2.2467506944179014,current_pose_yaw:2.674466848373413 +[2026-10-08 18:14:40.640] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.640] [path_visualizer] [debug] current_cmd_angular_z:0.34220079651679197 +[2026-10-08 18:14:40.684] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.684] [path_visualizer] [debug] current_pose_x:4.952891907829891, current_pose_y:2.248355540971668,current_pose_yaw:2.6853222846984863 +[2026-10-08 18:14:40.684] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.684] [path_visualizer] [debug] current_cmd_angular_z:0.32981784496149835 +[2026-10-08 18:14:40.738] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.738] [path_visualizer] [debug] current_pose_x:4.952891907829891, current_pose_y:2.248355540971668,current_pose_yaw:2.6853222846984863 +[2026-10-08 18:14:40.738] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.738] [path_visualizer] [debug] current_cmd_angular_z:0.32981784496149835 +[2026-10-08 18:14:40.791] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.791] [path_visualizer] [debug] current_pose_x:4.952891907829891, current_pose_y:2.248355540971668,current_pose_yaw:2.6853222846984863 +[2026-10-08 18:14:40.791] [path_visualizer] [debug] current_path_x:5.028804473680641, current_path_y:2.3902150034530156,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.791] [path_visualizer] [debug] current_cmd_angular_z:0.32981784496149835 +[2026-10-08 18:14:40.834] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.834] [path_visualizer] [debug] current_pose_x:4.925487732503089, current_pose_y:2.2499144683779972,current_pose_yaw:2.6958560943603516 +[2026-10-08 18:14:40.834] [path_visualizer] [debug] current_path_x:4.8335110960758065, current_path_y:2.390214967136685,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.834] [path_visualizer] [debug] current_cmd_angular_z:0.3178060458578931 +[2026-10-08 18:14:40.888] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.888] [path_visualizer] [debug] current_pose_x:4.925487732503089, current_pose_y:2.2499144683779972,current_pose_yaw:2.6958560943603516 +[2026-10-08 18:14:40.888] [path_visualizer] [debug] current_path_x:4.8335110960758065, current_path_y:2.390214967136685,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.888] [path_visualizer] [debug] current_cmd_angular_z:0.3178060458578931 +[2026-10-08 18:14:40.938] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.938] [path_visualizer] [debug] current_pose_x:4.898121317822653, current_pose_y:2.2514861123830854,current_pose_yaw:2.705993890762329 +[2026-10-08 18:14:40.938] [path_visualizer] [debug] current_path_x:4.8335110960758065, current_path_y:2.390214967136685,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.938] [path_visualizer] [debug] current_cmd_angular_z:0.3064284947900132 +[2026-10-08 18:14:40.983] [path_visualizer] [debug] LQR Gain Matrix K: + 2.5624 1.51953 +[2026-10-08 18:14:40.983] [path_visualizer] [debug] current_pose_x:4.898121317822653, current_pose_y:2.2514861123830854,current_pose_yaw:2.705993890762329 +[2026-10-08 18:14:40.983] [path_visualizer] [debug] current_path_x:4.8335110960758065, current_path_y:2.390214967136685,current_path_yaw:-3.141592653179586 +[2026-10-08 18:14:40.983] [path_visualizer] [debug] current_cmd_angular_z:0.3064284947900132 diff --git a/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp b/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp index f7d5211..d237763 100644 --- a/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp +++ b/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp @@ -22,6 +22,8 @@ #include #include #include +#include + #include #include @@ -63,7 +65,9 @@ private: void interpolatePoints(double max_interval_distance); void publishLocalPose(); void publishOdomPath(); - + void computePathCurvature(); + // lqr + Eigen::MatrixXd lqr(const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, const Eigen::MatrixXd &Q, const Eigen::MatrixXd &R); private: // topic pub rclcpp::Publisher::SharedPtr cmd_pub_; @@ -91,6 +95,7 @@ private: std::vector path_x_; std::vector path_y_; std::vector path_yaw_; + std::vector path_kappa_; // odom history pose std::vector history_x_; std::vector history_y_; @@ -121,6 +126,11 @@ private: double k_yaw_ = 1.0; double k_lat_ = 1.0; + //lqr parametres + double Q_e = 1.0; + double Q_h = 1.0; + double R_u = 1.0; + bool kappa_cal_ = false; bool origin_set_= false; bool path_transed = false; diff --git a/src/webots_simulation/src/PathVisualizer.cpp b/src/webots_simulation/src/PathVisualizer.cpp index f97902b..90a480e 100644 --- a/src/webots_simulation/src/PathVisualizer.cpp +++ b/src/webots_simulation/src/PathVisualizer.cpp @@ -44,6 +44,7 @@ has_pose_(false) // path get downloadPathJson(file_path_,json_data_,true); loadPathFromJson(json_data_); + // logger初始化 auto console_sink = @@ -264,6 +265,9 @@ bool PathVisualizer::loadPathFromJson( max_speed_ = data["properties"]["misionSpeed"].get(); k_yaw_ = data["properties"]["k_yaw"].get(); k_lat_ = data["properties"]["k_lat"].get(); + Q_e = data["properties"]["lqr_Q_e"].get(); + Q_h = data["properties"]["lqr_Q_h"].get(); + R_u = data["properties"]["lqr_R_u"].get(); // 检查 features if (!data.contains("features") || !data["features"].is_array() || @@ -595,6 +599,38 @@ void PathVisualizer::publishPathRviz() origin_path_pub_->publish(origin_path); } + +void PathVisualizer::computePathCurvature() + { + if (path_x_.size() < 3) { + return; + } + path_kappa_.resize(path_x_.size()); + for (size_t i = 1; i < path_x_.size() - 1; ++i) + { + int p_prev = i - 1; + int p_curr = i; + int p_next = i + 1; + double ds1 = std::hypot(path_x_[p_curr] - path_x_[p_prev],path_y_[p_curr] - path_y_[p_prev]); + double ds2 = std::hypot(path_x_[p_next] - path_x_[p_curr],path_y_[p_next] - path_y_[p_curr]); + double ds = 0.5 * (ds1 + ds2); + if (ds < 1e-6) { + path_kappa_[i] = 0.0; + continue; + } + double dyaw = path_yaw_[p_next] - path_yaw_[p_prev]; + while (dyaw > M_PI) + dyaw -= 2.0 * M_PI; + + while (dyaw < -M_PI) + dyaw += 2.0 * M_PI; + path_kappa_[i] = dyaw / (ds1 + ds2); + logger_->debug("path ind:{}, kappa:{}", i, path_kappa_[i]); + } + // 首尾点处理 + path_kappa_[0] = path_kappa_[1]; + path_kappa_[path_kappa_.size() - 1] = path_kappa_[path_kappa_.size() - 2]; + } void PathVisualizer::publishHistoryPathRviz(){ history_x_.push_back(x_); history_y_.push_back(y_); @@ -685,7 +721,22 @@ void PathVisualizer::localozation_callback(const geometry_msgs::msg::PoseWithCov publishOdomPath(); } } - +Eigen::MatrixXd PathVisualizer::lqr(const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, const Eigen::MatrixXd &Q, const Eigen::MatrixXd &R) +{ + + Eigen::MatrixXd P = Q; // 初始化P为Q + Eigen::MatrixXd P_prev = Eigen::MatrixXd::Zero(A.rows(), A.cols()); + for (int i = 0; i < 1000; ++i) + { + P_prev = P; + P = Q + A.transpose() * P * A - A.transpose() * P * B * (R + B.transpose() * P * B).inverse() * B.transpose() * P * A; + if ((P - P_prev).norm() < 1e-6) + break; // 收敛条件 + } + // LQR增益矩阵K + Eigen::MatrixXd K = (R + B.transpose() * P * B).inverse() * B.transpose() * P * A; + return K; +}; void PathVisualizer::control(){ if(!has_pose_) { @@ -697,6 +748,11 @@ void PathVisualizer::control(){ double speed=max_speed_; publishVehicleInfoRviz(); publishLocalPose(); + if(!kappa_cal_){ + kappa_cal_=true; + computePathCurvature(); + } + target_index_= findClosestPoint(forward_index_limit_); int current_index = target_index_; int target =findLookAheadPoint(); @@ -704,6 +760,7 @@ void PathVisualizer::control(){ double target_x =path_x_[target]; double target_y =path_y_[target]; double target_yaw =path_yaw_[target]; + double target_kappa =path_kappa_[target]; /*世界坐标转换到车辆坐标系*/ double dx =target_x-x_; @@ -716,6 +773,8 @@ void PathVisualizer::control(){ while (alpha > M_PI) alpha -= 2 * M_PI; while (alpha < -M_PI) alpha += 2 * M_PI; + geometry_msgs::msg::Twist cmd; + /*Pure Pursuit*/ // double Ld =sqrt(local_x*local_x+local_y*local_y); // double w_cmd =2.0*speed*sin(alpha)/(Ld); @@ -724,6 +783,7 @@ void PathVisualizer::control(){ double curent_path_x = path_x_[current_index]; double curent_path_y = path_y_[current_index]; double current_path_yaw =path_yaw_[current_index]; + double current_path_kappa = path_kappa_[current_index]; alpha = current_path_yaw - yaw_; while (alpha > M_PI) alpha -= 2 * M_PI; while (alpha < -M_PI) alpha += 2 * M_PI; @@ -733,8 +793,30 @@ void PathVisualizer::control(){ double error_lat = -dx_path * sin(current_path_yaw) + dy_path * cos(current_path_yaw); double w_cmd =k_yaw_ * alpha - k_lat_ * std::atan2(error_lat,speed); - geometry_msgs::msg::Twist cmd; + /*lqr*/ + double dt = 0.01; + Eigen::MatrixXd A(2, 2),B(2, 1),Q(2, 2),R(1, 1); + // A << 1.0 , speed * dt, + // 0 , 1.0; + // B << 0.5 * speed * dt * dt, + // dt; + A << 1.0 , speed * dt, + 0 , 1.0; + B << 0, + dt; + Q << Q_e , 0 , + 0 , Q_h; + R << R_u; + + Eigen::VectorXd x(2); + x << error_lat, -alpha; + Eigen::MatrixXd K = lqr(A, B, Q, R); + std::stringstream ss; + ss << K; + logger_->debug("LQR Gain Matrix K:\n{}", ss.str()); + w_cmd = - 1 * speed * current_path_kappa -(K * x)(0, 0); + logger_->debug("current_pose_x:{}, current_pose_y:{},current_pose_yaw:{}", x_, y_,yaw_ ); @@ -745,7 +827,6 @@ void PathVisualizer::control(){ ); cmd.linear.x = speed; cmd.angular.z = w_cmd; - if(cmd.angular.z >max_yaw_rate_) { @@ -757,6 +838,13 @@ void PathVisualizer::control(){ cmd.angular.z=-max_yaw_rate_; } + if (current_index == path_x_.size() - 1) + { + cmd.linear.x = 0.0; + cmd.angular.z = 0.0; + RCLCPP_INFO(this->get_logger(),"Reached the end of the path."); + } + cmd_pub_->publish(cmd); logger_->debug("current_cmd_angular_z:{}",cmd.angular.z); diff --git a/test_path.json b/test_path.json index 567b61a..f055770 100644 --- a/test_path.json +++ b/test_path.json @@ -1,10 +1,13 @@ { "type": "FeatureCollection", "properties": { - "turnRadius": 1.0, - "misionSpeed": 0.64, + "turnRadius": 1.2, + "misionSpeed": 0.32, "k_yaw": 2.0, - "k_lat": 4.0 + "k_lat": 4.0, + "lqr_Q_e": 100, + "lqr_Q_h": 10, + "lqr_R_u": 15 }, "features": [ { @@ -12,7 +15,7 @@ "properties": { "turnInds": [ 1, - 13 + 15 ], "mission": [] }, @@ -30,98 +33,113 @@ 0.0 ], [ - 30.800621368104, - 121.215481695811, - 0.285599332 + 30.800621317464, + 121.215481752769, + 0.241660973 ], [ - 30.800622430267, - 121.215484403537, - 0.571198664 + 30.800622238982, + 121.215484581609, + 0.483321947 ], [ - 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