diff --git a/Arduino/Final_18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575/Final_18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575.ino b/Arduino/Final_18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575/Final_18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575.ino
index 15f62ca12f4f997df677f8c5b8319a5a7df664ff..6557ae2782003e3b0243f920fd01666242d27189 100644
--- a/Arduino/Final_18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575/Final_18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575.ino
+++ b/Arduino/Final_18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575/Final_18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575.ino
@@ -178,7 +178,10 @@ void setup() {
Serial.println("Initialized " + String(sensor_count) + " Sensors");
}
-
+void loop1(){
+ Serial.println()
+ delay(500);
+}
void loop() {
count++;
long timestamp = micros();
@@ -220,9 +223,8 @@ void loop() {
processSensorData(sensor14, Results14, "sensor14", LPN_PIN5);
processSensorData(sensor15, Results15, "sensor15", LPN_PIN6);
processSensorData(sensor16, Results16, "sensor17", LPN_PIN8);
-
// Serialize the JSON document and print to Serial
- //serializeJson(doc, Serial);
+ serializeJson(doc, Serial);
Serial.println();
long loopduration = micros() - timestamp;
@@ -230,7 +232,6 @@ void loop() {
long averageloopduration = allduration/count;
Serial.println(averageloopduration);
Serial.println(count);
-
}
void i2cScanner(TwoWire DEV_I2C) {
diff --git a/Progress_Documentation/Example_JSON_Array_with_timestamps_and_count b/Progress_Documentation/Example_JSON_Array_with_timestamps_and_count
index 25d3fc45b9a2311e2c54d187cef09a9fa3d5fd1f..c2d6bdfc0aefb34837f6e69a101eae97b6476227 100644
--- a/Progress_Documentation/Example_JSON_Array_with_timestamps_and_count
+++ b/Progress_Documentation/Example_JSON_Array_with_timestamps_and_count
@@ -1,22 +1,34 @@
-16:28:42.887 -> 657
-16:28:42.983 ->
-16:28:42.983 -> 95598
-16:28:42.983 -> 658
-16:28:43.079 ->
-16:28:43.079 -> 95598
-16:28:43.079 -> 659
-16:28:43.177 ->
-16:28:43.177 -> 95598
-16:28:43.177 -> 660
-16:28:43.275 ->
-16:28:43.275 -> 95598
-16:28:43.275 -> 661
-16:28:43.373 ->
-16:28:43.373 -> 95598
-16:28:43.373 -> 662
-16:28:43.471 ->
-16:28:43.471 -> 95598
-16:28:43.471 -> 663
-16:28:43.568 ->
-16:28:43.568 -> 95598
+15:30:10.703 -> 166669
+15:30:10.703 -> 499
+15:30:10.800 -> {"sensor0":[[290,0],[349,5],[346,5],[343,5],[188,5],[181,5],[183,5],[195,5],[577,5],[377,5],[373,5],[376,5],[330,5],[204,5],[196,5],[196,5],[639,5],[424,0],[399,5],[399,5],[397,5],[260,5],[216,5],[210,5],[673,5],[709,5],[436,5],[435,5],[436,0],[347,5],[247,5],[230,5],[747,5],[740,5],[719,5],[682,5],[420,5],[396,5],[390,5],[403,5],[817,5],[758,5],[768,5],[402,0],[411,5],[409,5],[430,5],[421,5],[962,5],[868,5],[893,4],[383,0],[383,0],[364,5],[440,5],[381,0],[1024,0],[1070,0],[350,0],[960,4],[379,0],[315,5],[433,0],[375,0]],"sensor1":[[68,5],[352,5],[347,5],[344,5],[18,5],[353,5],[349,5],[334,5],[283,5],[373,5],[377,5],[36,5],[381,5],[376,5],[381,5],[374,5],[373,0],[408,5],[406,5],[407,5],[408,5],[410,5],[413,5],[402,0],[365,0],[675,5],[628,5],[501,0],[552,5],[727,5],[620,5],[652,5],[813,10],[766,10],[761,5],[785,5],[610,5],[720,5],[753,5],[744,5],[821,0],[802,5],[824,10],[854,5],[810,5],[813,5],[819,5],[876,5],[974,0],[384,0],[901,5],[454,0],[961,0],[878,5],[901,0],[920,0],[1209,0],[374,0],[1031,0],[369,0],[386,0],[1102,10],[1111,5],[1086,0]],"sensor2":[[34,5],[24,5],[339,5],[351,5],[365,5],[366,5],[369,5],[371,0],[20,5],[366,5],[384,5],[387,5],[393,5],[392,5],[423,5],[647,5],[396,0],[418,0],[407,5],[411,5],[423,5],[427,5],[669,5],[721,5],[447,0],[450,5],[475,5],[433,0],[455,0],[748,5],[716,5],[756,5],[435,5],[488,5],[471,0],[492,0],[776,4],[801,0],[421,0],[867,5],[438,5],[449,5],[469,5],[851,4],[856,5],[880,5],[443,0],[998,0],[424,0],[472,0],[459,0],[434,0],[459,0],[989,0],[1006,0],[1049,0],[373,0],[416,0],[1060,0],[415,0],[402,0],[1174,0],[366,0],[320,0]],"sensor3":[[354,5],[1347,10],[1287,5],[1392,10],[1393,0],[1426,10],[1296,0],[1345,0],[353,5],[929,5],[966,0],[1340,0],[1014,0],[4027,0],[410,0],[2760,0],[2407,0],[962,5],[1422,5],[1270,0],[1870,0],[3562,0],[1341,0],[1134,0],[2552,0],[958,5],[1337,5],[1830,0],[1809,0],[3249,0],[3231,0],[4160,0],[2480,0],[1004,10],[1314,5],[1892,0],[1696,0],[1203,0],[0,0],[3697,0],[1321,5],[1029,0],[1374,0],[1648,0],[1882,0],[1545,0],[3453,0],[1074,0],[948,5],[970,0],[1339,5],[1416,0],[1401,0],[1055,0],[2968,0],[922,0],[443,0],[1429,0],[1272,0],[1380,0],[0,0],[1213,0],[0,0],[1095,0]],"sensor4":[[1309,0],[1349,0],[1289,0],[1471,0],[1319,0],[1191,0],[1065,0],[0,0],[3653,0],[2240,0],[726,0],[0,0],[3787,0],[1698,0],[1774,0],[3084,0],[0,0],[917,0],[0,0],[0,0],[0,0],[1715,0],[1887,0],[0,0],[712,0],[3660,5],[0,0],[3712,0],[3853,0],[1304,0],[1059,0],[864,0],[1559,0],[3463,5],[3610,0],[0,0],[0,0],[2575,0],[3233,0],[1409,0],[2821,0],[3427,5],[1055,0],[4394,0],[2637,0],[1188,0],[0,0],[0,0],[3082,0],[3898,0],[3159,0],[3511,0],[0,0],[499,0],[2324,0],[787,0],[3334,0],[2632,10],[3591,0],[1805,0],[2077,0],[3121,0],[3473,0],[2594,0]],"sensor5":[[2967,10],[1066,10],[1123,5],[1137,0],[290,5],[267,5],[676,5],[643,5],[1468,0],[0,0],[418,0],[392,0],[310,0],[284,5],[715,5],[688,5],[3285,0],[1052,0],[730,0],[3220,0],[342,0],[276,5],[729,5],[673,5],[667,0],[978,0],[900,0],[793,0],[361,0],[280,5],[723,5],[676,5],[752,0],[0,0],[472,0],[781,0],[775,0],[771,0],[710,5],[677,5],[1655,0],[2630,0],[767,0],[861,0],[745,0],[705,0],[715,5],[656,5],[2079,0],[0,0],[2352,0],[694,0],[415,0],[781,0],[713,5],[658,5],[611,0],[502,0],[0,0],[0,0],[770,0],[797,0],[720,5],[674,5]],"sensor6":[[307,0],[3477,0],[1002,0],[3393,0],[1614,0],[2471,0],[734,5],[682,5],[3011,0],[3123,0],[3131,0],[544,0],[366,0],[907,0],[846,5],[774,5],[2803,0],[4017,0],[340,0],[355,0],[356,0],[1012,0],[933,5],[861,5],[2526,0],[342,0],[2459,0],[2620,0],[2550,0],[1286,10],[1132,5],[965,5],[845,0],[2032,0],[2374,10],[2379,5],[2395,0],[325,0],[1242,4],[1109,5],[2054,0],[2116,0],[2176,0],[2180,5],[2188,4],[244,5],[232,5],[262,0],[1961,0],[2009,0],[2003,0],[2042,0],[216,5],[206,5],[213,5],[224,0],[1839,5],[1855,5],[1835,10],[1904,5],[199,5],[189,5],[194,5],[228,0]],"sensor7":[[2021,0],[1057,0],[3399,0],[2985,0],[3424,0],[3504,0],[3242,0],[0,0],[3035,0],[3035,0],[2831,0],[2825,0],[3670,0],[3024,0],[3096,0],[3358,0],[2675,0],[2934,0],[0,0],[0,0],[2681,0],[2886,0],[2921,0],[2846,0],[1310,0],[2191,0],[2730,0],[984,0],[2244,0],[2040,0],[2377,0],[2954,0],[2147,0],[2216,0],[2265,0],[2284,0],[2322,0],[2417,0],[2392,0],[2389,0],[2050,0],[2029,0],[2127,0],[2198,0],[327,10],[2165,0],[2128,0],[2202,0],[1910,0],[1940,0],[1971,0],[1997,0],[1973,0],[2014,0],[2072,0],[2083,0],[1510,0],[187,5],[161,5],[1580,5],[170,5],[213,10],[244,5],[238,5]],"sensor8":[[0,0],[1368,0],[2155,0],[1032,0],[0,0],[0,0],[3441,0],[0,0],[987,0],[1758,0],[1144,0],[2906,0],[312,0],[0,0],[2945,0],[3043,0],[3226,0],[1478,0],[1608,0],[2676,10],[2624,0],[0,0],[403,0],[2787,0],[2047,0],[2157,0],[2402,0],[2492,0],[2457,0],[2497,0],[0,0],[2540,0],[730,0],[2231,0],[1791,0],[2333,0],[2221,0],[2326,0],[2232,0],[3380,0],[3046,0],[2090,0],[237,0],[2069,0],[2214,0],[2150,10],[2143,0],[2078,0],[1785,0],[1618,0],[218,10],[229,10],[211,5],[2037,0],[2001,10],[2021,10],[1853,0],[1711,0],[1809,0],[1596,5],[204,5],[1897,5],[1905,5],[1895,0]],"sensor9":[[1168,0],[1244,5],[1399,5],[2134,0],[3244,0],[2688,0],[1088,0],[2491,0],[1331,5],[1532,5],[1683,10],[2649,10],[1683,0],[1481,0],[2316,0],[1130,0],[1463,5],[1786,0],[1858,0],[2486,0],[2381,0],[2294,0],[1136,0],[0,0],[1567,5],[2098,0],[2284,0],[2327,0],[2435,0],[2446,0],[2040,5],[2319,0],[1828,0],[2067,0],[2225,0],[326,0],[3588,0],[2038,0],[2262,0],[2302,10],[1990,0],[1917,0],[272,0],[1712,0],[271,10],[271,0],[2193,5],[2131,0],[1939,5],[1947,0],[212,0],[222,5],[212,5],[212,0],[2003,5],[2019,10],[1861,5],[190,5],[194,5],[120,5],[132,5],[1888,5],[1871,5],[1901,0]],"sensor10":[[1145,5],[1150,5],[1167,5],[1179,5],[1184,5],[1160,5],[1148,5],[1113,5],[1319,5],[1360,5],[1369,5],[1372,5],[1382,5],[1351,5],[1340,5],[1180,0],[1454,5],[1607,10],[1639,5],[1633,5],[1740,5],[1646,0],[1602,5],[1443,0],[1593,10],[1920,0],[2003,0],[2022,0],[2027,0],[2053,0],[1895,0],[1640,10],[2189,0],[2310,0],[2356,0],[2372,0],[2145,10],[2433,0],[2056,0],[2012,0],[2164,0],[2083,10],[2264,5],[2183,0],[2206,10],[2182,0],[2254,0],[1932,0],[1526,0],[2041,0],[1746,0],[2045,0],[1957,0],[1968,0],[2010,0],[1600,0],[274,0],[1861,5],[1834,0],[1592,5],[1533,4],[1851,0],[1903,0],[3250,0]],"sensor11":[[674,5],[729,5],[782,5],[852,5],[920,5],[1009,5],[1211,5],[1146,5],[762,5],[823,5],[920,5],[997,5],[1083,5],[1818,0],[1392,5],[1343,5],[853,5],[955,5],[1040,5],[1146,0],[1303,10],[1298,0],[1558,0],[1498,5],[1032,5],[1056,0],[1229,0],[1371,0],[2521,0],[2068,0],[1492,0],[1620,5],[2342,0],[310,0],[350,0],[392,0],[2841,0],[2271,0],[2313,0],[1779,10],[245,0],[225,5],[217,5],[256,0],[297,0],[2187,10],[2143,10],[1776,0],[211,5],[205,5],[206,5],[213,5],[280,0],[278,0],[1991,5],[1997,0],[1830,4],[186,5],[187,5],[201,5],[230,0],[236,0],[223,0],[260,0]],"sensor12":[[633,5],[672,5],[707,5],[674,5],[651,5],[633,5],[596,5],[597,5],[660,5],[711,5],[747,5],[803,5],[870,0],[892,0],[1209,5],[1092,5],[656,5],[711,5],[760,5],[825,5],[871,5],[958,0],[1230,5],[1095,5],[662,5],[712,5],[776,5],[829,5],[881,5],[944,0],[1250,5],[1119,5],[657,5],[713,5],[769,5],[824,5],[851,0],[946,0],[1289,5],[1119,5],[659,5],[701,5],[741,5],[822,5],[872,0],[925,0],[1246,5],[1111,5],[655,5],[699,5],[731,5],[795,0],[849,0],[930,0],[1235,5],[1112,5],[651,5],[699,5],[757,5],[812,0],[849,0],[917,0],[1231,5],[1123,5]],"sensor13":[[562,5],[438,5],[431,5],[460,5],[458,5],[474,5],[1109,5],[1063,10],[1113,5],[1134,5],[1101,5],[1103,5],[1137,5],[1115,5],[1116,5],[1124,5],[1101,5],[1111,5],[1113,5],[1113,5],[1100,5],[1130,5],[1135,5],[1141,5],[1107,5],[1139,5],[1116,5],[1134,5],[1125,5],[1123,5],[1105,5],[1129,5],[1128,5],[1136,5],[1135,5],[1146,5],[1155,5],[1149,5],[1129,5],[1121,5],[1126,5],[1125,5],[1112,5],[1127,5],[1120,5],[1141,5],[1108,5],[1125,5],[1136,5],[1136,5],[1124,5],[1113,5],[1132,5],[1136,5],[1138,5],[1121,5],[1141,5],[1144,5],[1142,5],[1130,5],[1143,5],[1136,5],[1152,5],[1158,5]],"sensor14":[[654,0],[1136,0],[1297,10],[1389,0],[1400,0],[1299,0],[1167,0],[1263,0],[1190,5],[1145,5],[1324,0],[1971,0],[1176,0],[1045,0],[1033,5],[900,5],[1201,5],[1181,5],[1303,0],[2028,0],[1068,0],[0,0],[1511,0],[1850,0],[1200,5],[1239,5],[1398,5],[2094,0],[1192,5],[2837,0],[2486,0],[2311,5],[1151,5],[1193,5],[1381,5],[2172,10],[1179,5],[2845,0],[1563,0],[2406,0],[1169,0],[1220,5],[1367,5],[2087,0],[1171,0],[1224,0],[1350,0],[1286,5],[1146,0],[1162,5],[1350,5],[2008,0],[1237,0],[1020,0],[1014,5],[939,5],[1167,0],[1204,5],[1411,5],[2121,10],[1411,0],[3036,0],[1983,0],[2109,0]],"sensor15":[[319,5],[354,5],[358,5],[335,5],[352,5],[361,5],[360,5],[361,5],[325,5],[361,5],[383,5],[389,5],[391,5],[387,5],[388,5],[398,0],[346,5],[354,5],[392,5],[418,5],[427,5],[430,5],[423,5],[422,0],[370,5],[384,5],[395,5],[451,0],[456,0],[463,0],[461,0],[462,0],[403,5],[398,0],[403,0],[444,0],[478,0],[499,0],[466,5],[437,5],[443,0],[432,0],[845,4],[437,0],[453,0],[449,5],[457,5],[461,5],[547,0],[470,0],[449,0],[475,0],[476,0],[484,0],[497,0],[411,0],[607,10],[592,5],[489,0],[452,0],[408,0],[365,0],[349,0],[338,0]],"sensor17":[[180,5],[225,5],[332,5],[176,5],[304,9],[328,5],[346,5],[326,5],[190,5],[335,5],[371,5],[351,5],[374,5],[375,5],[375,5],[377,5],[204,5],[341,5],[395,5],[377,5],[390,5],[398,5],[373,5],[384,0],[230,5],[325,5],[370,5],[371,5],[371,5],[372,5],[367,5],[376,0],[261,5],[316,0],[396,5],[394,5],[389,5],[397,5],[393,0],[384,0],[287,0],[322,0],[421,5],[429,5],[430,5],[428,5],[421,0],[416,0],[336,0],[309,0],[420,0],[464,5],[446,5],[469,0],[454,0],[489,0],[476,0],[328,0],[391,0],[532,5],[541,5],[547,5],[575,5],[651,5]]}
+15:30:10.866 -> 166669
+15:30:10.866 -> 500
+15:30:10.960 -> 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+15:30:11.026 -> 166669
+15:30:11.026 -> 501
+15:30:11.121 -> 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+15:30:11.186 -> 166669
+15:30:11.186 -> 502
+15:30:11.283 -> 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+15:30:11.381 -> 166669
+15:30:11.381 -> 503
+15:30:11.475 -> 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+15:30:11.540 -> 166669
+15:30:11.540 -> 504
+15:30:11.636 -> 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+15:30:11.702 -> 166668
+15:30:11.702 -> 505
+15:30:11.797 -> 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+15:30:11.863 -> 166669
+15:30:11.863 -> 506
+15:30:11.958 -> 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+15:30:12.023 -> 166668
+15:30:12.023 -> 507
+15:30:12.119 -> 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+15:30:12.185 -> 166668
+15:30:12.185 -> 508
+15:30:12.278 -> 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+15:30:12.375 -> 166668
+15:30:12.375 -> 509
+15:30:12.471 -> {"sensor0":[[274,0],[347,5],[347,5],[342,5],[194,5],[181,5],[184,5],[200,5],[591,5],[374,5],[375,5],[376,5],[326,5],[207,5],[194,5],[197,5],[637,5],[418,0],[397,5],[399,5],[396,5],[255,5],[225,5],[209,5],[700,5],[655,5],[427,5],[434,5],[441,0],[340,5],[252,5],[239,5],[743,5],[745,5],[707,5],[559,5],[435,5],[398,5],[400,5],[395,5],[817,10],[793,5],[812,5],[692,5],[425,0],[413,5],[428,5],[417,5],[937,0],[931,5],[885,0],[362,0],[434,0],[370,5],[445,5],[383,0],[1012,0],[336,0],[317,0],[336,0],[409,0],[312,5],[425,0],[378,0]],"sensor1":[[78,5],[348,5],[350,5],[345,5],[19,5],[355,5],[351,5],[339,5],[323,0],[374,5],[378,5],[36,5],[379,5],[382,5],[382,5],[372,5],[391,0],[408,5],[406,5],[414,5],[403,5],[405,5],[400,5],[402,0],[673,4],[639,5],[703,5],[695,5],[492,5],[631,5],[588,5],[684,5],[759,10],[733,0],[668,5],[810,5],[547,5],[731,5],[471,5],[773,5],[386,0],[832,5],[822,0],[876,5],[846,5],[838,5],[822,0],[848,5],[976,0],[370,0],[899,0],[936,4],[867,0],[943,5],[866,5],[974,0],[367,0],[358,0],[1028,0],[339,0],[447,0],[1021,0],[1031,5],[1086,0]],"sensor2":[[44,5],[23,5],[338,5],[344,5],[360,5],[362,5],[373,5],[546,0],[20,5],[372,5],[388,5],[384,5],[389,5],[399,5],[429,5],[653,5],[400,0],[403,5],[412,5],[420,5],[428,5],[418,5],[661,5],[711,5],[438,0],[435,5],[455,0],[447,0],[451,0],[755,5],[736,5],[772,5],[438,5],[466,5],[485,0],[488,0],[752,4],[425,0],[823,0],[870,5],[435,5],[452,5],[463,5],[826,4],[938,5],[915,5],[925,10],[929,5],[415,0],[457,0],[484,0],[361,0],[446,4],[454,0],[1051,10],[371,0],[390,0],[440,0],[1060,0],[409,0],[390,0],[1174,0],[1263,0],[320,0]],"sensor3":[[357,5],[1359,0],[1242,5],[1348,0],[1393,0],[1368,0],[1296,0],[1342,0],[356,5],[918,5],[1428,0],[1394,0],[1014,0],[4027,0],[410,0],[2760,0],[2298,0],[953,5],[1374,10],[1270,0],[1870,0],[3562,0],[1341,0],[1134,0],[1308,0],[989,5],[1375,0],[1830,0],[1809,0],[3249,0],[3231,0],[4160,0],[2438,0],[989,5],[1346,5],[1892,0],[1696,0],[1203,0],[0,0],[3697,0],[1319,5],[1038,0],[1373,5],[1648,0],[1882,0],[1545,0],[3453,0],[1074,0],[928,5],[986,5],[1312,0],[1416,0],[1401,0],[1055,0],[2968,0],[922,0],[443,0],[1587,0],[1484,0],[1332,0],[0,0],[1213,0],[0,0],[1095,0]],"sensor4":[[1309,0],[1290,0],[1289,0],[1303,0],[1319,0],[1191,0],[1065,0],[0,0],[3653,0],[2240,0],[726,0],[0,0],[3787,0],[1698,0],[1774,0],[3084,0],[0,0],[917,0],[0,0],[0,0],[0,0],[1715,0],[1887,0],[0,0],[712,0],[3609,5],[0,0],[3712,0],[3853,0],[1304,0],[1059,0],[864,0],[1559,0],[3447,5],[3553,10],[3835,0],[0,0],[2575,0],[3233,0],[1409,0],[2821,0],[3433,5],[1055,0],[4394,0],[2637,0],[1188,0],[0,0],[0,0],[3082,0],[3898,0],[430,0],[3511,0],[0,0],[499,0],[2324,0],[787,0],[3334,0],[2632,0],[3152,0],[1805,0],[2077,0],[3121,0],[3473,0],[2594,0]],"sensor5":[[1106,0],[1047,0],[1132,10],[1149,0],[307,0],[271,5],[667,5],[658,5],[1468,0],[0,0],[418,0],[758,0],[301,0],[278,5],[716,5],[676,5],[3285,0],[1052,0],[730,0],[3220,0],[353,0],[280,5],[712,5],[677,5],[667,0],[978,0],[900,0],[793,0],[339,0],[283,5],[722,5],[676,5],[752,0],[0,0],[472,0],[781,0],[775,0],[771,0],[737,5],[672,5],[1655,0],[2630,0],[767,0],[791,0],[745,0],[705,0],[716,5],[678,5],[608,0],[0,0],[2352,0],[694,0],[415,0],[862,0],[712,5],[669,5],[611,0],[502,0],[0,0],[0,0],[770,0],[767,0],[720,5],[672,5]],"sensor6":[[2261,0],[3477,0],[1002,0],[3393,0],[1614,0],[2491,0],[743,5],[682,5],[3011,0],[343,0],[292,0],[544,0],[366,0],[965,0],[839,5],[770,5],[2803,0],[4017,0],[340,0],[355,0],[356,0],[1087,0],[956,5],[861,5],[2526,0],[342,0],[2459,0],[2517,0],[343,0],[1146,0],[1063,5],[970,5],[845,0],[2032,0],[2332,0],[2306,0],[315,0],[325,0],[1240,0],[1085,5],[2040,0],[2116,0],[2162,0],[2170,5],[283,5],[241,5],[235,5],[1220,10],[1998,0],[1983,5],[1983,5],[2042,10],[216,5],[209,5],[213,5],[216,0],[1869,0],[1812,5],[1882,5],[1858,5],[200,5],[191,5],[190,5],[1927,5]],"sensor7":[[2021,0],[1057,0],[3399,0],[2985,0],[3308,0],[3504,0],[3242,0],[0,0],[2983,0],[3035,0],[2831,0],[2825,0],[3670,0],[3024,0],[3109,0],[3358,0],[2711,0],[2934,0],[0,0],[0,0],[2681,0],[2787,0],[2921,0],[2977,0],[1310,0],[2191,0],[2730,0],[984,0],[493,0],[2040,0],[2377,0],[2954,0],[2131,0],[2207,0],[2265,0],[2252,0],[2335,0],[2417,0],[2326,0],[2410,0],[2011,0],[2057,0],[2097,0],[2132,0],[2090,0],[2081,0],[2210,0],[2242,0],[1887,0],[1919,0],[1964,0],[1969,0],[2013,0],[2007,0],[2066,0],[2077,0],[1536,0],[159,5],[155,5],[1581,5],[173,5],[270,0],[248,5],[233,5]],"sensor8":[[0,0],[1368,0],[2155,0],[1070,0],[0,0],[0,0],[3441,0],[0,0],[987,0],[1758,0],[1144,0],[2906,0],[312,0],[0,0],[2953,0],[3214,0],[3226,0],[1478,0],[1608,0],[2682,0],[2623,0],[0,0],[403,0],[2787,0],[2047,0],[2100,0],[2407,0],[2454,10],[2516,10],[2499,0],[0,0],[2540,0],[1768,0],[2130,0],[1791,0],[2289,0],[2276,0],[2303,0],[2271,0],[3380,0],[3046,0],[1718,0],[243,0],[2147,0],[2128,0],[2073,0],[2220,0],[2116,0],[1987,0],[1618,0],[1814,4],[230,0],[1964,5],[1970,0],[1962,0],[2015,0],[1874,0],[1711,0],[262,5],[1601,5],[198,5],[1877,5],[1865,5],[1856,5]],"sensor9":[[1168,0],[1243,5],[1428,5],[2112,0],[3244,0],[2688,0],[1864,0],[2491,0],[13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diff --git a/Progress_Documentation/Terminalfeedback _from_moveit_stop_node.txt b/Progress_Documentation/Terminalfeedback _from_moveit_stop_node.txt
new file mode 100644
index 0000000000000000000000000000000000000000..715decc161f301dd1991a51a47b4f694e2c279e6
--- /dev/null
+++ b/Progress_Documentation/Terminalfeedback _from_moveit_stop_node.txt
@@ -0,0 +1,466 @@
+[INFO] [1748351303.569304706] [moveit_stop_node]: Number of points to close to robot: 21
+[INFO] [1748351303.570092446] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351303.570497348] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.234122 seconds
+[INFO] [1748351303.765662251] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351303.766148858] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351303.766413558] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231973 seconds
+[INFO] [1748351303.960946386] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351303.961452076] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351303.961744746] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.225089 seconds
+[INFO] [1748351304.163950366] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351304.164450874] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351304.164743685] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230375 seconds
+[INFO] [1748351304.363529315] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351304.364034333] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351304.364329093] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.227431 seconds
+[INFO] [1748351304.566458028] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351304.566990461] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351304.567311785] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229921 seconds
+[INFO] [1748351304.772105437] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351304.772680425] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351304.773026945] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.234231 seconds
+[INFO] [1748351304.972088358] [moveit_stop_node]: Number of points to close to robot: 21
+[INFO] [1748351304.972555220] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351304.972828332] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230104 seconds
+[INFO] [1748351305.170928830] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351305.171434472] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351305.171729178] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229802 seconds
+[INFO] [1748351305.369690860] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351305.370203039] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351305.370502285] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.226240 seconds
+[INFO] [1748351305.571528828] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351305.572038628] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351305.572333464] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228544 seconds
+[INFO] [1748351305.777527527] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351305.778010019] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351305.778289596] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.233390 seconds
+[INFO] [1748351305.983566639] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351305.984233034] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351305.984610846] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.237370 seconds
+[INFO] [1748351306.176880257] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351306.177363413] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351306.177631377] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228508 seconds
+[INFO] [1748351306.375162191] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351306.375691204] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351306.376003371] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.226949 seconds
+[INFO] [1748351306.596511699] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351306.597073350] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351306.597403649] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.248419 seconds
+[INFO] [1748351306.782058537] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351306.782606811] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351306.783064385] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.226706 seconds
+[INFO] [1748351306.985592541] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351306.986230322] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351306.986586435] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.233527 seconds
+[INFO] [1748351307.192784803] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351307.193392911] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351307.193752297] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.239678 seconds
+[INFO] [1748351307.388756585] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351307.389366656] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351307.389720531] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228120 seconds
+[INFO] [1748351307.589951571] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351307.590497892] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351307.590833482] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.233780 seconds
+[INFO] [1748351307.785761656] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351307.786681754] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351307.786994637] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229016 seconds
+[INFO] [1748351307.985049021] [moveit_stop_node]: Number of points to close to robot: 21
+[INFO] [1748351307.985563017] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351307.985866984] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.227849 seconds
+[INFO] [1748351308.187757950] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351308.188301417] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351308.188618947] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230128 seconds
+[INFO] [1748351308.389766553] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351308.390314725] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351308.390635569] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231104 seconds
+[INFO] [1748351308.590392220] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351308.590984069] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351308.591319023] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229963 seconds
+[INFO] [1748351308.798722613] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351308.799372553] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351308.799745771] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.237716 seconds
+[INFO] [1748351309.005849010] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351309.006412847] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351309.006749225] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.240523 seconds
+[INFO] [1748351309.199544091] [moveit_stop_node]: Number of points to close to robot: 20
+[INFO] [1748351309.200161806] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351309.200520727] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232092 seconds
+[INFO] [1748351309.396205453] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351309.396743226] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351309.397083415] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230351 seconds
+[INFO] [1748351309.603145723] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351309.603798330] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351309.604206292] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.236569 seconds
+[INFO] [1748351309.812301189] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351309.812907235] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351309.813261874] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.243482 seconds
+[INFO] [1748351310.003453523] [moveit_stop_node]: Number of points to close to robot: 13
+[INFO] [1748351310.004052191] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351310.004404363] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230562 seconds
+[INFO] [1748351310.198811195] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351310.199337806] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351310.199633505] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.227911 seconds
+[INFO] [1748351310.401100121] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351310.401593655] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351310.401878678] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230645 seconds
+[INFO] [1748351310.600730824] [moveit_stop_node]: Number of points to close to robot: 22
+[INFO] [1748351310.601248532] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351310.601543912] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229208 seconds
+[INFO] [1748351310.802509292] [moveit_stop_node]: Number of points to close to robot: 13
+[INFO] [1748351310.803034186] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351310.803330101] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229963 seconds
+[INFO] [1748351311.003866335] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351311.004389407] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351311.004685582] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229427 seconds
+[INFO] [1748351311.205008556] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351311.205517133] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351311.205814728] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228549 seconds
+[INFO] [1748351311.405719328] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351311.406243722] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351311.406537318] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228768 seconds
+[INFO] [1748351311.605937840] [moveit_stop_node]: Number of points to close to robot: 13
+[INFO] [1748351311.606438367] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351311.606798851] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.227911 seconds
+[INFO] [1748351311.808046972] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351311.808535936] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351311.808798528] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228912 seconds
+[INFO] [1748351312.010274026] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351312.010929241] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351312.011235714] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229968 seconds
+[INFO] [1748351312.212081040] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351312.212715359] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351312.213044495] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229992 seconds
+[INFO] [1748351312.414971601] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351312.415489434] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351312.415785189] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230567 seconds
+[INFO] [1748351312.614091348] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351312.614660764] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351312.614983975] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229078 seconds
+[INFO] [1748351312.817932700] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351312.818490607] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351312.818806189] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231918 seconds
+[INFO] [1748351313.018294815] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351313.018877547] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351313.019186241] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230094 seconds
+[INFO] [1748351313.218311236] [moveit_stop_node]: Number of points to close to robot: 11
+[INFO] [1748351313.218797542] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351313.219126427] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229698 seconds
+[INFO] [1748351313.426914151] [moveit_stop_node]: Number of points to close to robot: 13
+[INFO] [1748351313.427391497] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351313.427655532] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.237286 seconds
+[INFO] [1748351313.620532692] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351313.621070460] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351313.621366686] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.226836 seconds
+[INFO] [1748351313.823324848] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351313.823876409] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351313.824195208] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231158 seconds
+[INFO] [1748351314.022290320] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351314.022830275] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351314.023130383] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228328 seconds
+[INFO] [1748351314.222863550] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351314.223387099] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351314.223688156] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228551 seconds
+[INFO] [1748351314.424498830] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351314.425012661] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351314.425309373] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229053 seconds
+[INFO] [1748351314.624914617] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351314.625438155] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351314.625734590] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228830 seconds
+[INFO] [1748351314.826971067] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351314.827480120] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351314.827779761] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229397 seconds
+[INFO] [1748351315.031746235] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351315.032330183] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351315.032661404] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232740 seconds
+[INFO] [1748351315.229963608] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351315.230453922] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351315.230752597] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228565 seconds
+[INFO] [1748351315.432853026] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351315.433590365] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351315.433915487] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231055 seconds
+[INFO] [1748351315.640466786] [moveit_stop_node]: Number of points to close to robot: 20
+[INFO] [1748351315.640995999] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351315.641268291] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.236870 seconds
+[INFO] [1748351315.838215940] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351315.838749497] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351315.839066134] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231254 seconds
+[INFO] [1748351316.035661495] [moveit_stop_node]: Number of points to close to robot: 13
+[INFO] [1748351316.036201835] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351316.036517389] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229307 seconds
+[INFO] [1748351316.254920191] [moveit_stop_node]: Number of points to close to robot: 22
+[INFO] [1748351316.255479062] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351316.255810111] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.247998 seconds
+[INFO] [1748351316.448599435] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351316.450352901] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351316.450728466] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231654 seconds
+[INFO] [1748351316.645739385] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351316.646385027] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351316.646762805] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.234107 seconds
+[INFO] [1748351316.865604935] [moveit_stop_node]: Number of points to close to robot: 20
+[INFO] [1748351316.866171380] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351316.866503907] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.253487 seconds
+[INFO] [1748351317.047142155] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351317.047736197] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351317.048120678] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228061 seconds
+[INFO] [1748351317.251017062] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351317.251591502] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351317.251948442] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.237108 seconds
+[INFO] [1748351317.448557245] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351317.449149034] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351317.449496879] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232422 seconds
+[INFO] [1748351317.648676708] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351317.649193866] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351317.649470292] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231894 seconds
+[INFO] [1748351317.846321740] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351317.846819453] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351317.847113908] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228623 seconds
+[INFO] [1748351318.046992567] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351318.047495076] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351318.047787168] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228367 seconds
+[INFO] [1748351318.256599596] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351318.257184017] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351318.257522352] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.237094 seconds
+[INFO] [1748351318.452291982] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351318.452745033] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351318.453060629] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229238 seconds
+[INFO] [1748351318.650856118] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351318.651362623] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351318.651656867] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.227993 seconds
+[INFO] [1748351318.855934004] [moveit_stop_node]: Number of points to close to robot: 13
+[INFO] [1748351318.856484050] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351318.856815788] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232903 seconds
+[INFO] [1748351319.057016967] [moveit_stop_node]: Number of points to close to robot: 24
+[INFO] [1748351319.057508580] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351319.057789598] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231009 seconds
+[INFO] [1748351319.255094487] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351319.255583153] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351319.255877959] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228041 seconds
+[INFO] [1748351319.473758904] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351319.474469925] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351319.474891411] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.245824 seconds
+[INFO] [1748351319.661242994] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351319.661792668] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351319.662137169] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228158 seconds
+[INFO] [1748351319.859691451] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351319.860215629] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351319.860486772] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228856 seconds
+[INFO] [1748351320.059172381] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351320.059716458] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351320.060023324] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228089 seconds
+[INFO] [1748351320.264359869] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351320.264917692] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351320.265232985] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232950 seconds
+[INFO] [1748351320.463804833] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351320.464369012] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351320.464692112] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230554 seconds
+[INFO] [1748351320.666993610] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351320.667484699] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351320.667760463] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232655 seconds
+[INFO] [1748351320.865445009] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351320.866019899] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351320.866364531] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228671 seconds
+[INFO] [1748351321.066720400] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351321.067314697] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351321.067589572] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230758 seconds
+[INFO] [1748351321.265104512] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351321.265625577] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351321.265930055] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.227137 seconds
+[INFO] [1748351321.466142102] [moveit_stop_node]: Number of points to close to robot: 12
+[INFO] [1748351321.466649899] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351321.466952525] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228662 seconds
+[INFO] [1748351321.669529903] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351321.670085082] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351321.670408155] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230510 seconds
+[INFO] [1748351321.870557670] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351321.871263392] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351321.871534534] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230445 seconds
+[INFO] [1748351322.112309294] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351322.113027003] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351322.113367560] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.271117 seconds
+[INFO] [1748351322.275028986] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351322.275621795] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351322.275961689] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.207278 seconds
+[INFO] [1748351322.474881594] [moveit_stop_node]: Number of points to close to robot: 21
+[INFO] [1748351322.475408690] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351322.475709393] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229976 seconds
+[INFO] [1748351322.673502529] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351322.674039745] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351322.674313764] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228730 seconds
+[INFO] [1748351322.876052287] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351322.876599708] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351322.876923182] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230400 seconds
+[INFO] [1748351323.080768370] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351323.081356238] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351323.081668968] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.233120 seconds
+[INFO] [1748351323.292275936] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351323.292813510] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351323.293126053] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.242865 seconds
+[INFO] [1748351323.478516091] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351323.479042937] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351323.479349605] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.224105 seconds
+[INFO] [1748351323.692996169] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351323.693633276] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351323.694014450] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.241877 seconds
+[INFO] [1748351323.887828600] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351323.888456575] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351323.888837973] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232285 seconds
+[INFO] [1748351324.084054923] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351324.084556952] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351324.084919922] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229099 seconds
+[INFO] [1748351324.283576481] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351324.284098881] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351324.284393929] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228823 seconds
+[INFO] [1748351324.485708934] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351324.486240348] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351324.486535188] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230000 seconds
+[INFO] [1748351324.690071341] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351324.690557069] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351324.690858646] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232684 seconds
+[INFO] [1748351324.890489929] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351324.891045529] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351324.891368980] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229912 seconds
+[INFO] [1748351325.107413490] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351325.108002971] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351325.108339846] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.247388 seconds
+[INFO] [1748351325.295249290] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351325.295876549] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351325.296232004] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.224512 seconds
+[INFO] [1748351325.489159376] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351325.489661641] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351325.489963146] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.226260 seconds
+[INFO] [1748351325.691893471] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351325.692417277] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351325.692716789] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228919 seconds
+[INFO] [1748351325.905463487] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351325.906000453] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351325.906270845] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.241765 seconds
+[INFO] [1748351326.094854133] [moveit_stop_node]: Number of points to close to robot: 13
+[INFO] [1748351326.095396660] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351326.095710283] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.224123 seconds
+[INFO] [1748351326.295996746] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351326.296529107] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351326.296840700] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228767 seconds
+[INFO] [1748351326.496086053] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351326.496622806] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351326.496939101] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228076 seconds
+[INFO] [1748351326.716743865] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351326.717318346] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351326.717649998] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.247654 seconds
+[INFO] [1748351326.908818740] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351326.909349382] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351326.909662103] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232213 seconds
+[INFO] [1748351327.104862989] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351327.105423930] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351327.105757991] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230248 seconds
+[INFO] [1748351327.301948896] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351327.302464604] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351327.302822588] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.227748 seconds
+[INFO] [1748351327.503014980] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351327.503523476] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351327.503824591] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228860 seconds
+[INFO] [1748351327.703642269] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351327.704151286] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351327.704447763] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228383 seconds
+[INFO] [1748351327.915344374] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351327.915965019] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351327.916311887] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.239055 seconds
+[INFO] [1748351328.110003165] [moveit_stop_node]: Number of points to close to robot: 12
+[INFO] [1748351328.110575492] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351328.110943670] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230359 seconds
+[INFO] [1748351328.310534643] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351328.311121063] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351328.311431492] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230830 seconds
+[INFO] [1748351328.511642669] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351328.512170108] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351328.512470399] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230732 seconds
+[INFO] [1748351328.710406589] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351328.710956144] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351328.711258260] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228227 seconds
+[INFO] [1748351328.919329907] [moveit_stop_node]: Number of points to close to robot: 21
+[INFO] [1748351328.919859942] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351328.920169592] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.236605 seconds
+[INFO] [1748351329.122186441] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351329.122773631] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351329.123120673] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.236105 seconds
+[INFO] [1748351329.319257407] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351329.319844975] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351329.320192879] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231588 seconds
+[INFO] [1748351329.523878964] [moveit_stop_node]: Number of points to close to robot: 12
+[INFO] [1748351329.524520247] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351329.524914341] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.236118 seconds
+[INFO] [1748351329.725576342] [moveit_stop_node]: Number of points to close to robot: 15
+[INFO] [1748351329.726235485] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351329.726622624] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.235446 seconds
+[INFO] [1748351329.922109249] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351329.922679022] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351329.923046502] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.230815 seconds
+[INFO] [1748351330.123648855] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351330.124230229] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351330.124579305] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232435 seconds
+[INFO] [1748351330.323498908] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351330.324024553] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351330.324299566] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231166 seconds
+[INFO] [1748351330.520988243] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351330.521497227] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351330.521787592] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228030 seconds
+[INFO] [1748351330.729671854] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351330.730229436] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351330.730503177] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.236483 seconds
+[INFO] [1748351330.930570052] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351330.931174954] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351330.931529585] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232742 seconds
+[INFO] [1748351331.139776243] [moveit_stop_node]: Number of points to close to robot: 21
+[INFO] [1748351331.140327982] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351331.140649552] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.242139 seconds
+[INFO] [1748351331.334352961] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351331.334998110] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351331.335339542] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231539 seconds
+[INFO] [1748351331.533211197] [moveit_stop_node]: Number of points to close to robot: 11
+[INFO] [1748351331.533839074] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351331.534206443] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.233554 seconds
+[INFO] [1748351331.738528268] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351331.739122251] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351331.739475881] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.238209 seconds
+[INFO] [1748351331.944009033] [moveit_stop_node]: Number of points to close to robot: 17
+[INFO] [1748351331.944654777] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351331.945106781] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.241778 seconds
+[INFO] [1748351332.139091823] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351332.139724545] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351332.140107380] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.234680 seconds
+[INFO] [1748351332.340411335] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351332.341051370] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351332.341425314] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.235616 seconds
+[INFO] [1748351332.541086336] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351332.541675365] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351332.542013613] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.234972 seconds
+[INFO] [1748351332.733785548] [moveit_stop_node]: Number of points to close to robot: 19
+[INFO] [1748351332.734321889] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351332.734687236] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.226899 seconds
+[INFO] [1748351332.939807747] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351332.940397054] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351332.940740984] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.233826 seconds
+[INFO] [1748351333.141374548] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351333.141945591] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351333.142281562] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.232152 seconds
+[INFO] [1748351333.355951388] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351333.356482511] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351333.356782730] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.245682 seconds
+[INFO] [1748351333.540623041] [moveit_stop_node]: Number of points to close to robot: 21
+[INFO] [1748351333.541164277] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351333.541467658] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.224700 seconds
+[INFO] [1748351333.740787670] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351333.741336619] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351333.741643765] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.229786 seconds
+[INFO] [1748351333.946313477] [moveit_stop_node]: Number of points to close to robot: 14
+[INFO] [1748351333.946835852] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351333.947133622] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.234067 seconds
+[INFO] [1748351334.150112556] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351334.150696387] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351334.151053457] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.231698 seconds
+[INFO] [1748351334.343112301] [moveit_stop_node]: Number of points to close to robot: 18
+[INFO] [1748351334.343613615] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351334.343913823] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.225513 seconds
+[INFO] [1748351334.544503962] [moveit_stop_node]: Number of points to close to robot: 16
+[INFO] [1748351334.545069837] [moveit_stop_node]: Stopping trajectory execution due to point cloud threshold.
+[INFO] [1748351334.545363847] [moveit_stop_node]: Time difference between ROS time and pointcloud stamp: 0.228709 seconds
+