################################################################################
################# CHECKING FOR BENCHBOT SOFTWARE STACK UPDATES #################
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Checking BenchBot version ...				Up-to-date.
Checking BenchBot API version ...			Up-to-date.
Checking BenchBot Eval version ...			Up-to-date.
Checking BenchBot Supervisor version ...		Up-to-date.
Checking installed BenchBot add-ons are up-to-date ...	Up-to-date.

BenchBot is up-to-date.

################################################################################
###################### CLEANING UP ALL BENCHBOT REMNANTS #######################
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Sending stop request to running controller:
{"stop_success":true}

Deleted the following containers:
Total reclaimed space: 0B

Finished cleaning! (use 'benchbot_run -k' for a full clean)


################################################################################
##################### STARTING THE BENCHBOT SOFTWARE STACK #####################
################################################################################

Running the BenchBot system with the following settings:

    Selected task:        scd:active:ground_truth
    Task results format:  object_map_with_states
    Selected robot:       carter_omni
    Selected environment: office:2:3
    Scene/s:              office:2, starting @ pose [0.0, 0.0, 0.0, 1.0, 1.0, 5.5, 0.3]
                          (map_path = '.sim_data/office_2.usd')
                          office:3, starting @ pose [0.7154, -0.0029, 0.0028, 0.6987, 0.0, -1.5, 0.3]
                          (map_path = '.sim_data/office_3.usd')
    Simulator required:   Yes (sim_omni)

Creating shared network 'benchbot_network':

Starting persistent container for ROS core:
Skipping (already running)

Starting persistent container for BenchBot Robot Controller (sim_omni):
Skipping (already running)

Starting container for BenchBot Supervisor:
84d0c4732461de26e8dccc6f1db4dda72cec0fb621c1188b65f1970d78710614

Starting container for BenchBot Debugging:
1c00d1e0041b525bfaf18232a8a661b65ca9eac30efe3b1563b216971a6bc16a

################################################################################
################### BENCHBOT IS RUNNING (Ctrl^C to exit) ... ###################
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Initialising supervisor...

Configuring the supervisor...
Starting a supervisor with the following configuration:

{'environments': [{'_file_path': '/benchbot/addons/benchbot_addons/benchbot-addons/envs_bear_challenge_sim_omni/environments/office_2.yaml',
                   'description': 'Large office environment with object '
                                  'variations under day lighting\n',
                   'map_path': '.sim_data/office_2.usd',
                   'name': 'office',
                   'object_labels': [...],
                   'robots': [...],
                   'start_pose': [...],
                   'trajectory_poses': [...],
                   'type': 'sim_omni',
                   'variant': 2},
                  {'_file_path': '/benchbot/addons/benchbot_addons/benchbot-addons/envs_bear_challenge_sim_omni/environments/office_3.yaml',
                   'description': 'Large office environment with object '
                                  'variations under night lighting\n',
                   'map_path': '.sim_data/office_3.usd',
                   'name': 'office',
                   'object_labels': [...],
                   'robots': [...],
                   'start_pose': [...],
                   'trajectory_poses': [...],
                   'type': 'sim_omni',
                   'variant': 3}],
 'results': {'_file_path': '/benchbot/addons/benchbot_addons/benchbot-addons/formats_object_map/formats/object_map_with_states.yaml',
             'description': 'The same as an "object map", but each object also '
                            'has field specifying a\n'
                            "probability distribution for the object's state. "
                            'Valid states are defined by \n'
                            "the top level 'state_list' field.\n",
             'functions': {'create': 'object_map_states.create_empty',
                           'create_object': 'object_map_states.create_empty_object',
                           'validate': 'object_map_states.validate'},
             'name': 'object_map_with_states'},
 'robot': {'_file_path': '/benchbot/addons/benchbot_addons/benchbot-addons/robots_sim_omni/robots/carter_omni.yaml',
           'address': 'http://benchbot_robot:10000',
           'connections': {'image_depth': {...},
                           'image_depth_info': {...},
                           'image_rgb': {...},
                           'image_rgb_info': {...},
                           'laser': {...},
                           'move_angle': {...},
                           'move_distance': {...},
                           'move_next': {...},
                           'poses': {...}},
           'global_frame': 'map',
           'name': 'carter_omni',
           'persistent_cmds': ['/benchbot/benchbot_simulator/run -P 10001 & '
                               'x=$! && sleep 10 && curl -X POST '
                               'http://localhost:10001/start && wait $x\n',
                               'rosrun benchbot_robot_controller noisify_odom '
                               '\\\n'
                               '  noise_linear:=0.2 noise_angular:=0.1\n'],
           'persistent_status': 'curl -s localhost:10001/started | grep -q '
                                "'true'\n",
           'poses': ['base_link', 'initial_pose', 'camera_left', 'lidar'],
           'robot_frame': 'base_link',
           'run_cmd': 'rostopic pub -1 /odom_start_pose std_msgs/String "data: '
                      '\'$START_POSE\'" && curl -s -o /dev/null '
                      'localhost:10001/open_environment \\\n'
                      '  -H "Content-Type: application/json" \\\n'
                      '  -d \'{"environment": "$ENVS_PATH/$MAP_PATH"}\' &&\n'
                      'curl -s -o /dev/null localhost:10001/place_robot \\\n'
                      '  -H "Content-Type: application/json" \\\n'
                      '  -d \'{"robot": "$ROBOT_PATH/.robot_data/carter.usd", '
                      '"start_pose": "$START_POSE"}\'\n',
           'stop_cmd': 'curl -s -o /dev/null -X POST '
                       'localhost:10001/stop_sim\n',
           'type': 'sim_omni'},
 'task': {'_file_path': '/benchbot/addons/benchbot_addons/benchbot-addons/tasks_ssu/tasks/scd_agt.yaml',
          'actions': ['move_angle', 'move_distance'],
          'description': 'Detect changes between two scenes of an environment. '
                         'An object map describes each changed object with a '
                         'probabilistic label suggestion, spatial location, '
                         'and probabilistic state change suggestion (added, '
                         'removed, changed). This task provides active robot '
                         'control, and sensor observations with ground truth '
                         'robot pose.\n',
          'localisation': 'ground_truth',
          'name': 'scd:active:ground_truth',
          'observations': ['image_depth',
                           'image_depth_info',
                           'image_rgb',
                           'image_rgb_info',
                           'laser',
                           'poses'],
          'results_format': 'object_map_with_states',
          'scene_count': 2,
          'type': 'sim_unreal'}}


Supervisor is now available @ 'http://0.0.0.0:10000' ...

Waiting until a robot controller is found @ 'http://benchbot_robot:10000' ... 
	Found
Sending environment data & robot config to controller ... 
	Ready
Starting the robot controller ... 
	Ready