| 1 |
info |
("VelControl unknown exception occurred."); |
下发速度控制异常 |
| 2 |
info |
("The point cloud is empty.\n"); |
点云为空，一般是开机自检的时候没有看到反光柱会报 |
| 3 |
info |
("The initial distance from the charge pile is %f m.", mCurrentX.load()); |
下发充电指令时距离充电桩的距离 |
| 4 |
info |
("The host [%s] is reachable.", ipAddress.c_str()); |
X20充电时 能和充电桩ping通 |
| 5 |
info |
("tag receive timeout : %d s", mTagReceiveTimeout); |
接收充电桩定位数据超时（没有看到两个反光柱） |
| 6 |
info |
("start unknown exception occurred."); |
|
| 7 |
info |
("Start sliding adjustment test."); |
在充电桩上开始小距离的磨蹭 |
| 8 |
info |
("Start slding adjustment pose x: %i, y: %i, z: %i, roll: %i, " |
|
| 9 |
info |
("Start power on self test..."); |
开机自检充电状态是否在充电桩上 |
| 10 |
info |
("Start launch Marker process."); |
开启充电桩定位程序 |
| 11 |
info |
("Start go to target x: %f, y: %f, yaw: %f", x, y, theta); |
开始调用位移指令，走向目标位置 |
| 12 |
info |
("Start enable stop motion command once."); |
下发一次停止运动指令 |
| 13 |
info |
("Start enable start motion command once."); |
下发一下开始运动指令 |
| 14 |
info |
("Start enable stand up command once."); |
下发一次站立指令 |
| 15 |
info |
("Start enable stand down command once."); |
下发一次趴下指令 |
| 16 |
info |
("Start enable software stop command once."); |
下发一次软急停指令（爬桩一定会下发） |
| 17 |
info |
("Start enable force control command once."); |
下发力控指令 |
| 18 |
info |
("Start clear target position."); |
清除位移指令状态 |
| 19 |
info |
("Start Adjust pose x: %i, y: %i, z: %i, roll: %i, pitch: %i, yaw: %i, rate: %i", \ |
开始调节身体姿态对准充电桩 |
| 20 |
info |
("Sit down receive tag pose x: [%i], y: [%i], yaw: [%i]", |
趴在充电桩上时距离中心点的偏差 |
| 21 |
info |
("Send rising electrode command"); |
下发上升电极指令 |
| 22 |
info |
("Send falling electrode command"); |
下发降落电极指令 |
| 23 |
info |
("Second detection current timeout : %d s", mSecondDeteCurrTimout); |
第二次检测电流超时 |
| 24 |
info |
("Retrying stop motion..."); |
重试停止运动 |
| 25 |
info |
("Retrying start motion..."); |
重试开始运动 |
| 26 |
info |
("Retrying StandUp..."); |
重试站立 |
| 27 |
info |
("Retrying stand down..."); |
重试趴下 |
| 28 |
info |
("Retrying software stop..."); |
重试软急停 |
| 29 |
info |
("Retrying force control..."); |
重试力控 |
| 30 |
info |
("Report error code method : %s", mReportErrorCodeMethod.c_str()); |
上报错误方式 |
| 31 |
info |
("Receive tag information timeout [%i] s.Current time is [%i], receive tag msg time is [%i]", mTagReceiveTimeout, current_time, receive_tag_time); |
接收反光柱信息超时 |
| 32 |
info |
("Receive pose information timeout [%i] s.Current time is [%i], receive pose msg time is [%i]", mTagReceiveTimeout, current_system_time, last_pose_time); |
结束反光柱信息超时 |
| 33 |
info |
("Open location service call success."); |
打开反光柱定位算法成功 |
| 34 |
info |
("Open dog 24v power switch."); |
打开电池24v开关 |
| 35 |
info |
("My status is about to change to [idle]."); |
变为空闲状态 |
| 36 |
info |
("My status is [safety_warning], receive the command: over charging, accept."); |
手冲时下发了结束指令，提示需要先拔掉充电器 |
| 37 |
info |
("My status is [safety_warning], receive the command: charging, reject."); |
手冲时下发了进桩指令，提示需要先拔掉充电器 |
| 38 |
info |
("My status is [safety_warning], begin to transtion to [idle]"); |
手冲状态变为空闲 |
| 39 |
info |
("My status is [pile_error], receive the command: over charging, accept."); |
充电桩断电时，接收到退桩 |
| 40 |
info |
("My status is [pile_error], receive the command: charging, reject."); |
充电桩断电时，接收到充电指令 |
| 41 |
info |
("My status is [pile_error], begin to transtion to [do_over_charge_task]"); |
充电桩断电时，接收结束充电指令，开始做退桩动作 |
| 42 |
info |
("My status is [idle]."); |
当前状态为空闲 |
| 43 |
info |
("My status is [idle], receive the command: charging, accept."); |
空闲状态下，接收到充电指令，接受 |
| 44 |
info |
("My status is [idle], receive command: over charging, reject."); |
空闲状态下，接收到结束充电指令，拒绝 |
| 45 |
info |
My status is [do_over_charge_task], begin to transtion to [idle] |
当前状态是做结束充电的任务，正在转化成空闲状态 |
| 46 |
info |
Receive Handle code is [91910250], value is [1] |
接收手柄充电指令 |
| 47 |
info |
Receive Handle code is [91910250], value is [0] |
接收手柄结束充电指令 |
| 48 |
info |
My status is [idle], begin transiton status to [do_charge_task] |
空闲状态变成开始准备充电状态，做进桩任务 |
| 49 |
info |
Marker process has been launch |
开启放光柱程序 |
| 50 |
info |
The initial distance from the charge pile is m |
初始狗到桩的距离（初始狗没进桩的位置到充电桩的距离） |
| 51 |
info |
Reach the target position |
达到目标点桩上（狗执行进桩已经走到了充电桩正上方站着） |
| 52 |
info |
Receive open reflective column command |
接收到反光柱开启的指令 |
| 53 |
error |
After clustering, cluster size is [%li] less than 2 |
识别的反光柱数量是多少，在小于2的时候会输出报文 |
| 54 |
info |
Receive close reflective column command |
接收到反光柱关闭的指令 |
| 55 |
info |
("My status is [error], receive the command: over charging, auto do over charge task."); |
当前状态为错误状态，接收到结束充电指令 |
| 56 |
info |
("My status is [error], receive the command: charging, reject."); |
当前状态为错误状态，接收到开始充电指令 |
| 57 |
info |
("My status is [error], begin transtion status to [idle], " |
当前状态为错误状态，变为空闲状态 |
| 58 |
info |
("My status is [do_over_charge_task], receive command: over charging, reject."); |
正在做退桩动作，接收到结束充电指令，拒绝相应 |
| 59 |
info |
("My status is [do_over_charge_task], receive command: charging, reject."); |
正在做退桩动作，接收到充电指令，拒绝响应 |
| 60 |
info |
("My status is [do_charge_task], receive command: over charging, until status change to charging begin start do over charge task."); |
正在做进桩动作，接收到结束充电指令 |
| 61 |
info |
("My status is [do_charge_task], receive command: over charging, " |
正在做进桩任务，接收到结束充电指令 |
| 62 |
info |
("My status is [do_charge_task], begin transtion status to [charging]"); |
从正在做进桩状态变成了正在充电状态 |
| 63 |
info |
("My status is [charging], receive the command: over charging, accept."); |
正在充电，接收到结束充电 |
| 64 |
info |
("My status is [charging], receive the command: charging, reject."); |
正在充电，接收到充电指令 |
| 65 |
info |
("My status is [charging], begin to transtion to [do_over_charge_task]"); |
正在充电，变成了结束充电状态 |
| 66 |
info |
("My status begin to transtion to [error] because of [NOCHARGEPLUG], begin transtion to [do_over_charge_task]"); |
因为没有检测到电流，所以退出充电桩 |
| 67 |
info |
("Launch marker process success..."); |
充电桩定位开启成功 |
| 68 |
info |
("Launch location process success..."); |
充电桩定位开启成功 |
| 69 |
info |
("Last tag time is [%i], current system time is [%i].", last_tag_time, CurrentSystemTime); |
上一次接收到反光柱定位数据时间 |
| 70 |
info |
("I've stopped exercising."); |
已经停止运动 |
| 71 |
info |
("Init charge status is [pile_error]"); |
自检完成之后，状态为充电桩断电状态 |
| 72 |
info |
("Init charge status is [idle], because launch marker process failed."); |
自检完成之后，启动反光柱定位算法失败 |
| 73 |
info |
("Init charge status is [idle] because of the distance from the charging pile is a bit far. target x is %f",temp_target_x); |
空闲状态，因为距离反光柱过远 |
| 74 |
info |
("Init charge status is [idle] because did not see the QR code."); |
自检为空闲状态，因为没有看到反光柱 |
| 75 |
info |
("Init charge status is [error] because of [NOCHARGEPLUG], target x is %f", temp_target_x); |
自检之后，在桩上，没有电流 |
| 76 |
info |
("Init charge status is [charging]"); |
自检完成之后，状态为充电中 |
| 77 |
info |
("Init Camera pose x is: [%f], in the stack Camera pose x is: [%f]", mStackPoseX, camera_current_pose_x); |
接收充电指令时距离充电桩的距离X20 |
| 78 |
info |
("I'm already walking."); |
已经在移动了 |
| 79 |
info |
("I have already stood up."); |
已经站立 |
| 80 |
info |
("I have already stood down."); |
已经趴下状态 |
| 81 |
info |
("I have already force stand up."); |
已经力控状态 |
| 82 |
info |
("Go to target postion complete."); |
调用位移指令完成 |
| 83 |
info |
("First detection current timeout : %d s", mFirstDeteCurrTimout); |
第一次检测充电电流超时 |
| 84 |
info |
("Enable wide walk once."); |
调用宽步态成功 |
| 85 |
info |
("Enable trot gait success."); |
调用普通步态成功 |
| 86 |
info |
("Enable stop motion command success."); |
调用停止运动命令成功 |
| 87 |
info |
("Enable stop motion command success after retry."); |
重试之后，调用停止运动命令成功 |
| 88 |
info |
("Enable start motion command success."); |
调用开始运动命令成功 |
| 89 |
info |
("Enable start motion command success after retry."); |
重试之后，调用开始运动命令成功 |
| 90 |
info |
("Enable StandDownUp once."); |
调用站立/趴下命令成功 |
| 91 |
info |
("Enable stand up command success."); |
调用站立命令成功 |
| 92 |
info |
("Enable stand up command success after retry."); |
重试之后，调用站立命令成功 |
| 93 |
info |
("Enable stand down command success."); |
调用趴下命令成功 |
| 94 |
info |
("Enable stand down command success after retry."); |
重试之后，调用趴下命令成功 |
| 95 |
info |
("Enable software stop command success."); |
调用软急停命令成功 |
| 96 |
info |
("Enable software stop command success after retry."); |
重试之后，调用软急停命令成功 |
| 97 |
info |
("Enable slope gait timeout."); |
斜坡步态超时 |
| 98 |
info |
("Enable slope gait success."); |
斜坡步态成功 |
| 99 |
info |
("Enable slope gait once."); |
下发斜坡步态一次 |
| 100 |
info |
("Enable perceiving stair gait timeout."); |
感知楼梯步态超时 |
| 101 |
info |
("Enable perceiving stair gait once."); |
下发一次感知楼梯步态一次 |
| 102 |
info |
("Enable perceiving stair gait success."); |
感知楼梯步态成功 |
| 103 |
info |
("Enable obstacle gait timeout."); |
越障步态超时 |
| 104 |
info |
("Enable obstacle gait success."); |
越障步态成功 |
| 105 |
info |
("Enable obstacle gait once."); |
越障步态下发一次 |
| 106 |
info |
("Enable NavMode once."); |
导航模式下发一次 |
| 107 |
info |
("Enable narrow walk once."); |
窄步态下发一次 |
| 108 |
info |
("Enable force control command success."); |
力控指令成功 |
| 109 |
info |
("Enable force control command success after retry."); |
重试之后，力控指令成功 |
| 110 |
info |
("Close location service call success."); |
成功关闭反光柱定位算法 |
| 111 |
info |
("Close dog 24v power switch."); |
关闭电池24v开关 |
| 112 |
info |
("Begin to over charge process."); |
开始结束充电 |
| 113 |
info |
("back distance : %f m", mBackDistance); |
后退距离 |
| 114 |
info |
("Adjust posture height : %f m", mAdjustPostHeight); |
调整身体高度 |
| 115 |
info |
("Adjust pose start."); |
开始调整位姿 |
| 116 |
warn |
("The host [%s] is unreachable.", ipAddress.c_str()); |
充电桩ping不通 |
| 117 |
warn |
("Target pose var is so big, so reset PID value and clear VEL value."); |
反光柱定位数据发生跳变，所以重置PID控制参数 PID：自主充电控制算法 |
| 118 |
warn |
("Target pose var is so big, so reset PID " |
|
| 119 |
warn |
("Receive the topic /tag_status msg failed."); |
获取反光柱数据失败 |
| 120 |
warn |
("Receive raw points data nothing. msg is nullptr"); |
|
| 121 |
warn |
("PointsDataCallback receive points cloud data nothing."); |
|
| 122 |
warn |
("Please unplug the charger cable first."); |
手冲时下发了进桩指令，提示需要先拔掉充电器 |
| 123 |
warn |
("My status is [error]."); |
当前状态时错误状态 |
| 124 |
warn |
("My status is [do_charge_task], Don't need send charging command!"); |
正在充电过程中，接收到新的自主充电指令，不接收新的指令 |
| 125 |
warn |
("My status is [do_charge_task], begin transtion status to [error]"); |
从做充电任务状态变成错误状态 |
| 126 |
warn |
("My status is [charging], begin transtion status to [pile_error]."); |
正在桩上充电时，突然没有检测到充电电流 |
| 127 |
warn |
("Last target pose equal to current target pose, so don't publish vel value."); |
"进桩时当前位置信息和上一帧获取的位置信息相同，所以不下发速度 |
| 因为不可能时相同的，所以认为定位数据有问题，定位数据未更新，停止下发速度" |
|
|
|
| 128 |
warn |
("Last target pose equal to current target pose, so don't " |
上次目标点和当前目标点相同，所以这次不下发速度 |
| 129 |
warn |
("I was punished to stand, then start reset charge status."); |
爬桩或进桩异常退出趴着的时候，其他原因导致狗站立，自主充电状态重置为空闲状态 |
| 130 |
warn |
("Grep %s pid occor error %s", keywords.c_str(), e.what()); |
|
| 131 |
warn |
("Get Location pose timeout, retry reroslaunch location process."); |
在进桩的过程中，获取反光柱定位信息超时，重启反光柱定位算法 |
| 132 |
warn |
("Get /tag_status msg is NULL"); |
反光柱算法启动失败 |
| 133 |
warn |
("Get /robot_gait_state msg is NULL"); |
获取运动步态失败 |
| 134 |
warn |
("Get /robot_basic_state msg is NULL"); |
获取运动状态失败 |
| 135 |
warn |
("Get /pose_in_apriltag msg is NULL"); |
获取二维码定数数据失败 |
| 136 |
warn |
("Get /leg_odom msg is NULL"); |
没有获取到足式里程计 |
| 137 |
warn |
("Get /charging_state msg is NULL"); |
没有获取到电流信息 |
| 138 |
warn |
("Failed to obtain positioning coordinates."); |
|
| 139 |
warn |
("Exec %s shell occor error %s", *cmd, e.what()); |
|
| 140 |
warn |
("Enable stop motion command timeout."); |
向运动发送停止运动指令，但是未接收到反馈，原因可能运动有问题或者transfer有问题 |
| 141 |
warn |
("Enable stop motion command timeout again."); |
下发停止运动，运动没响应，再次尝试 |
| 142 |
warn |
("Enable start motion command timeout."); |
向运动发送开始运动指令，但是未接收到反馈，原因可能运动有问题或者transfer有问题 |
| 143 |
warn |
("Enable start motion command timeout again."); |
下发开始运动，运动没响应，再次尝试 |
| 144 |
warn |
("Enable stand up command timeout."); |
向运动发送站立指令，但是未接收到反馈，原因可能运动有问题或者transfer有问题 |
| 145 |
warn |
("Enable stand up command timeout again."); |
下发站立，运动没响应，再次尝试 |
| 146 |
warn |
("Enable stand down failed, because of robot status isn't soft stop status."); |
下发多次趴下指令，运动没响应 |
| 147 |
warn |
("Enable stand down failed, because of robot status " |
下发多次趴下指令，运动没响应 |
| 148 |
warn |
("Enable stand down command timeout."); |
向运动发送趴下指令，但是未接收到反馈，原因可能运动有问题或者transfer有问题 |
| 149 |
warn |
("Enable stand down command timeout again."); |
下发趴下，运动没响应，再次尝试 |
| 150 |
warn |
("Enable software stop command timeout."); |
向运动发送软急停指令，但是未接收到反馈，原因可能运动有问题或者transfer有问题 |
| 151 |
warn |
("Enable software stop command timeout again."); |
下发软急停，运动没响应，再次尝试 |
| 152 |
warn |
("Enable force control command timeout."); |
向运动发送力控指令，但是未接收到反馈，原因可能运动有问题或者transfer有问题 |
| 153 |
warn |
("Enable force control command timeout again."); |
下发力控，运动没响应，再次尝试 |
| 154 |
warn |
("Detect charge failed, so start goto NochargeFundHandle process."); |
没有检测到电流，进入到调整阶段 |
| 155 |
warn |
("Current receive tag [%s] pose value variance is big, var is [%f].", pose_type.c_str(),ret_var); |
反光柱定位目标点位置发生跳变，有其他反光条干扰 |
| 156 |
warn |
("Current receive tag [%s] pose value variance is big, var is [%f].", |
反光柱定位目标点位置发生跳变，有其他反光条干扰 |
| 157 |
warn |
("Current receive tag [%s] pose isn't continue, raw data is [%f].", pose_type.c_str(), *it); |
反光柱定位目标点位置发生跳变，有其他反光条干扰 |
| 158 |
warn |
("Current receive tag [%s] pose isn't continue, raw data is [%f].", |
反光柱定位目标点位置发生跳变，有其他反光条干扰 |
| 159 |
warn |
("Child mark process did not exit normally"); |
|
| 160 |
warn |
("Begin DoChargeTaskRet status to INITNULL"); |
在进桩过程中接收到清除自主充电状态的指令，现象：停止踏步 |
| 161 |
error |
("The number of reflective pillar is less than 2, so return false."); |
没有识别到两个反光柱 |
| 162 |
error |
("Target x, y, yaw no value in 5s!!!"); |
没有反光柱定位信息 |
| 163 |
error |
("Server bind error: %s ! error code is: %i", errorMessage.c_str(), errorCode); |
绑定3333端口失败 |
| 164 |
error |
("Robot commander send message to Control host failed."); |
与运动通信失败 |
| 165 |
error |
("Robot commander init socket failed."); |
初始化与运动通信的socket创建失败 |
| 166 |
error |
("Robot commander Binding failed."); |
绑定43983端口失败 |
| 167 |
error |
("Rising electrode stick failed."); |
上升电极棒失败 |
| 168 |
error |
("Retry roslaunch location process 3 times, return."); |
进桩的过程中，由于反光柱定位数据超时，重启3次反光柱定位算法之后，依然失败。 |
| 169 |
error |
("Open location service call failed."); |
打开反光柱定位算法失败 |
| 170 |
error |
("Launch mark process, fork failed"); |
启动反光住定位算法时创建进程失败 |
| 171 |
error |
("Launch location process failed..."); |
启动反光柱定位算法失败 |
| 172 |
error |
("Init server socket failed!"); |
初始化与broker的socket时创建失败 |
| 173 |
error |
("Init mHandleServerSocket socket failed!"); |
初始化与手柄通信的socket时创建失败 |
| 174 |
error |
("Get tag_receive_timeout occor %s",e.what()); |
定位数据超时 |
| 175 |
error |
("Get into charging pile more than 1 min, so return GOTOSTACKFAILED."); |
进桩时间超过1分钟，退出 |
| 176 |
error |
("Close location service call failed."); |
关闭反光柱定位算法失败 |
| 177 |
error |
("Calculate vel msg data have nan value, so return GOTOSTACKFAILED."); |
计算出的速度值错误 |
| 178 |
error |
("After clustering, reflective column size is less than 2. size is %i.", |
少于两个反光柱 |
| 179 |
error |
("[TAGRECETIMEOUT] error occurred!!!"); |
获取反光柱定位数据超时，刚开始识别到了，进桩过程获取反光柱数据失败 |
| 180 |
error |
("[TAGNOVALUE] error occurred!!!"); |
没有识别到反光柱，刚开始就没有识别到 |
| 181 |
error |
("[STACKDISCONNECT] error occurred!!!"); |
X20连接不到二维码充电桩 |
| 182 |
error |
("[NOCHARGEPLUG_STEP_BACK] error occurred!!!"); |
没有检测到充电电流，退出充电桩 |
| 183 |
error |
("[NOCHARGEPLUG] error occurred!!!"); |
调整了5次之后，没有检测到电流，然后趴桩 |
| 184 |
error |
("[MARKLAUNCHFAILED] error occurred!!!"); |
反光柱定位算法开启失败 |
| 185 |
error |
("[GOTOSTACKFAILED] error occurred!!!"); |
充电桩面前踏步超过一分钟，原因可能在/cmd_vel_corrected 这个topic中有0的速度 |
| 186 |
debug |
("PID caculate v_x is [%f], v_y is [%f], v_yaw is [%f]", v_x, v_y, v_yaw); |
计算出的速度值 |
| 187 |
debug |
("PID caculate v_x is [%f], v_y is [%f], v_yaw is [%f]", v_x, v_y, |
进桩过程会报 |
| 188 |
debug |
("Outrange max y is %f, min y is %f\n", maxPt[1], minPt[1]); |
进桩过程会报 |
| 189 |
debug |
("Output linear_x is [%f], linear_y is [%f], angular_yaw is [%f]", vel_msg.linear.x, vel_msg.linear.y, vel_msg.angular.z); |
进桩过程会报 |
| 190 |
debug |
("distance x is [%f], distance y is [%f], distance yaw is [%f]", target_x, target_y, target_yaw); |
进桩过程会报 |
| 191 |
debug |
("Current receive tag [%s] pose value size is [%i] variance is [%f]", pose_type.c_str(), simple_data.size(), ret_var); |
|
| 192 |
debug |
("clusting size is %li", ClusterIdx.size()); |
识别到几个物体块（数字报几就是识别到了几个反光柱） |
| 193 |
debug |
("back direction clostest distance is %f", mDetectResult.second); |
后退时最近的距离为 |
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