MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

20.7s

Avg test time

100%

Objective pass rate

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2 pass

✓ passed	—	test_base_link_has_single_tf_parent	21.5s	12 errors · 317 warnings · 1556 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-10-08-23-30-18-642331-6b30a55f1a14-7682 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.84sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.85sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.85sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 5.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.03sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 5.06sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.11sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.12sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.12sINFOros2_control_node-13process started with pid [7847] ×2 + 5.12sINFOmove_group-25process started with pid [7903] ×2 + 5.12sINFOparameter_manager_node-26process started with pid [7904] ×2 + 5.12sINFOwaypoint_manager_node-27process started with pid [7905] ×2 + 5.12sINFOmove_joint_resampler_node-28process started with pid [7907] ×2 + 5.12sINFOmove_end_effector_resampler_node-29process started with pid [7908] ×2 + 5.12sINFOobjective_server_node_main-30process started with pid [7909] ×2 + 5.12sINFOcomponent_container_mt-31process started with pid [7910] ×2 + 5.12sINFOcomponent_container_mt-32process started with pid [7911] ×2 + 5.12sINFOexecute_objective_bridge-33process started with pid [7914] ×2 + 5.12sINFOui_teleop_bridge-34process started with pid [7916] ×2 + 5.12sINFOweb_bridge-35process started with pid [7917] ×2 + 5.12sINFOtf_visualization_relay-36process started with pid [7922] ×2 + 5.12sINFOjoint_state_visualization_relay-37process started with pid [7923] ×2 + 5.12sINFOtf2_web_republisher_node-38process started with pid [7924] ×2 + 5.12sINFOvideo_server-39process started with pid [7925] ×2 + 5.12sINFOweb_bridge_auth_proxy-40process started with pid [7926] ×2 + 5.12sINFOweb_video_auth_proxy-41process started with pid [7927] ×2 + 5.13sINFOcontroller_serverCreating controller server + 5.14sINFOstate_estimatorReceived a set_pose request (stamp: 1791502225495786045, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.15sINFOcomponent_container_isolated-1process started with pid [7732] ×2 + 5.15sINFOcomponent_container_isolated-2process started with pid [7733] ×2 + 5.15sINFOstatic_transform_publisher-3process started with pid [7734] ×2 + 5.15sINFOodom_world_drift-4process started with pid [7735] ×2 + 5.15sINFOlidar_flattener.py-5process started with pid [7736] ×2 + 5.15sINFOstatic_transform_publisher-6process started with pid [7737] ×2 + 5.15sINFOstatic_transform_publisher-7process started with pid [7738] ×2 + 5.15sINFOscan_to_scan_filter_chain-8process started with pid [7739] ×2 + 5.15sINFOscan_to_scan_filter_chain-9process started with pid [7740] ×2 + 5.15sINFOrelay-10process started with pid [7844] ×2 + 5.15sINFOrelay-11process started with pid [7845] ×2 + 5.15sINFOfixed_lag_smoother_node-12process started with pid [7846] ×2 + 5.15sINFOros2-14process started with pid [7848] ×2 + 5.15sINFOros2-15process started with pid [7849] ×2 + 5.15sINFOros2-16process started with pid [7850] ×2 + 5.15sINFOros2-17process started with pid [7851] ×2 + 5.15sINFOros2-18process started with pid [7852] ×2 + 5.15sINFOros2-19process started with pid [7853] ×2 + 5.15sINFOros2-20process started with pid [7854] ×2 + 5.15sINFOros2-21process started with pid [7855] ×2 + 5.15sINFOros2-22process started with pid [7856] ×2 + 5.15sINFOros2-23process started with pid [7859] ×2 + 5.15sINFOros2-24process started with pid [7860] ×2 + 5.17sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.17sINFOmap_serverCreating + 5.17sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.18sINFOlocal_costmap.local_costmapCreating Costmap + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.20sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 5.22sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.22sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.22sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.22sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.22sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.22sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.22sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.22sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.22sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.22sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.22sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.22sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.23sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.23sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.24sINFOcontroller_managerupdate rate is 600 Hz + 5.24sINFOcontroller_managerOverruns handling is : enabled + 5.24sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.25sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 5.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.27sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.27sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.27sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.27sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.27sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.27sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 5.28sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.28sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453454 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453454 ms (missed cycles : 4).[0m ×2 + 5.30sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.33sINFOsmoother_serverCreating smoother server + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.34sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.34sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.38sINFOlifecycle_manager_localizationCreating + 5.41sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.43sINFOrobot_state_publisherRobot initialized + 5.43sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.43sINFOcontroller_managerReceived robot description from topic. + 5.43sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.43sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.43sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.45sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.45sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.45sINFOplanner_serverCreating + 5.45sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.46sINFOmap_serverConfiguring + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.47sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.52sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.54sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.55sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.55sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.56sINFOglobal_costmap.global_costmapCreating Costmap + 5.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.61sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.61sINFOamclConfiguring + 5.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.62sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.62sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.62sINFOmap_serverActivating + 5.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.63sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.63sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.68sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.74sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.74sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.74sINFOamclActivating + 5.74sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.75sINFOvideo_server2026/10/08 23:30:26 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.76sINFOvideo_server2026/10/08 23:30:26 INF configuration loaded from /tmp/moveit-webrtc-rj3sgmy2/mediamtx.yml ×2 + 5.76sINFOvideo_server2026/10/08 23:30:26 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.76sINFOvideo_server2026/10/08 23:30:26 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.76sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.77sINFOamclSubscribed to map_topic: /map + 5.77sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.77sINFOamclCreated reinitialize_global_localization service + 5.77sINFOamclCreated request_nomotion_update service + 5.78sINFOamclA new map was received + 5.78sINFOamclInitializing particle filter instance + 5.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.86sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.87sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.87sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.88sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.356842 seconds + 5.89sINFOmove_groupLoaded robot model in 0.356842 seconds[0m ×2 + 5.89sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.90sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.90sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.90sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.90sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.93sINFObt_navigatorCreating + 5.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.97sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.98sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.98sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.99sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.99sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 6.01sINFOwaypoint_followerCreating + 6.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 6.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 6.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 6.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 6.05sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 6.05sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.07sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 6.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 6.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 6.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 6.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 6.13sINFOlifecycle_manager_navigationCreating + 6.15sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 6.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 6.20sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 6.20sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 6.20sINFOcontroller_serverConfiguring controller interface + 6.20sINFOcontroller_servergetting progress checker plugins.. + 6.20sINFOcontroller_servergetting goal checker plugins.. + 6.20sINFOcontroller_serverController frequency set to 20.0000Hz + 6.20sINFOlocal_costmap.local_costmapConfiguring + 6.23sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 6.24sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 6.30sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 6.30sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 6.31sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 6.35sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 6.36sINFOcontroller_serverController Server has progress_checker progress checkers available. + 6.36sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 6.37sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431133 ms (missed cycles : 4). + 6.38sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431133 ms (missed cycles : 4).[0m ×2 + 6.40sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.42sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.42sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.44sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.44sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.44sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.44sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.44sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.44sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.44sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.44sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.44sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.44sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.44sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.44sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.44sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.45sINFOcontroller_serverOptimizer reset ×2 + 6.47sINFOcontroller_serverController Server has FollowPath controllers available. + 6.48sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.48sINFOsmoother_serverConfiguring smoother server + 6.52sINFOamclParticle filter initialization completed + 6.52sINFOamclInitializing particles from estimated pose and covariance + 6.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.52sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.53sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.55sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.55sINFOplanner_serverConfiguring + 6.55sINFOglobal_costmap.global_costmapConfiguring + 6.56sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.56sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.56sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.57sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.59sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.59sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.59sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.60sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.62sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.66sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.66sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.67sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.69sINFOweb_bridge_auth_proxy2026-10-08 23:30:27,043 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.70sINFOweb_bridge_auth_proxy2026-10-08 23:30:27,059 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.71sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.72sINFOweb_video_auth_proxy2026-10-08 23:30:27,075 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.72sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.72sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.74sINFOplanner_serverPlanner Server has GridBased planners available. + 6.78sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.78sINFObehavior_serverConfiguring + 6.80sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.80sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.82sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.83sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.83sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.84sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.84sINFObehavior_serverConfiguring spin + 6.86sINFObehavior_serverConfiguring backup + 6.86sINFObehavior_serverConfiguring drive_on_heading + 6.87sINFObehavior_serverConfiguring assisted_teleop + 6.89sINFObehavior_serverConfiguring wait + 6.91sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.91sINFObt_navigatorConfiguring + 6.93sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.94sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 7.07sINFOmove_group[2026-10-08 23:30:27.428] [moveit_pro_license] [info] ×2 + 7.07sINFOmove_group************************************************* ×4 + 7.07sINFOmove_group* MoveIt Pro License ×2 + 7.07sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.10sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 7.17sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 7.17sINFOwaypoint_followerConfiguring + 7.17sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 7.17sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 7.17sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 7.17sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.22sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 7.22sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 7.22sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 7.22sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 7.22sINFOvelocity_smootherConfiguring velocity smoother + 7.24sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 7.24sINFOcontroller_serverActivating + 7.24sINFOlocal_costmap.local_costmapActivating + 7.24sINFOlocal_costmap.local_costmapChecking transform + 7.24sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×11 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920696 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920696 ms (missed cycles : 2).[0m ×2 + 7.46sINFOwaypoint_manager_nodeLoaded robot model in 0.450151 seconds[0m ×2 + 7.46sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 7.46sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.54sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.54sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.55sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.55sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.55sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.55sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.55sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.55sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.55sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.55sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.56sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.57sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.57sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.57sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.57sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.57sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.57sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.96sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.96sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.96sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.96sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.96sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.98sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.15sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 8.15sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 8.15sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 8.15sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 8.15sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 8.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 8.15sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 8.15sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 8.15sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 8.15sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 8.15sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 8.15sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 8.15sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 8.15sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 8.15sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.15sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 8.15sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.15sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 8.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 8.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 8.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 8.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 8.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 8.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 8.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 8.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 8.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 8.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 8.20sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 8.20sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.27sINFOwaypoint_manager_node[2026-10-08 23:30:28.623] [moveit_pro_license] [info] ×2 + 8.27sINFOwaypoint_manager_node************************************************* ×4 + 8.27sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 8.27sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.31sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 8.31sINFOcontroller_managerLoading controller 'vacuum_gripper' + 8.31sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 8.31sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 8.32sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 8.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 8.37sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.37sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674084 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674084 ms (missed cycles : 2).[0m ×2 + 8.39sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.40sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 8.40sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 8.41sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 8.41sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 8.41sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 8.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 8.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 8.42sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 8.42sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.42sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 8.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 8.43sINFOcontroller_managerSuccessfully switched controllers! ×21 + 8.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 8.43sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 8.43sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 8.53sINFOobjective_server_node[2026-10-08 23:30:28.885] [moveit_pro_license] [info] ×2 + 8.53sINFOobjective_server_node************************************************* ×4 + 8.53sINFOobjective_server_node* MoveIt Pro License ×2 + 8.53sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.63sINFOobjective_server_nodeLoaded robot model in 0.0359086 seconds[0m ×2 + 8.63sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.63sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.68sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.68sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.70sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.72sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.76sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 8.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 8.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.77sINFOros2-18process has finished cleanly [pid 7852] ×2 + 8.83sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.83sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.83sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.83sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.84sINFOforce_torque_sensor_broadcasterconfigure successful + 8.84sINFOros2_control_nodeconfigure successful[0m ×6 + 8.84sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.84sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.85sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.85sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.93sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.94sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.94sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.95sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.98sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.98sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.98sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.98sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.98sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.98sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.99sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.99sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.99sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.99sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.99sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.99sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 9.00sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 9.00sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 9.00sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 9.00sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 9.00sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 9.00sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 9.00sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 9.00sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 9.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.00sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 9.00sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 9.00sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 9.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 9.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sINFOros2-14process has finished cleanly [pid 7848] ×2 + 9.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.27sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 9.27sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.27sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 9.27sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 9.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.28sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 9.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 9.29sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.29sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.29sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.29sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.29sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.29sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.29sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.33sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 9.33sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 9.37sINFOcomponent_container_mtLoaded robot model in 0.419149 seconds[0m ×2 + 9.37sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.37sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.38sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 9.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.41sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.48sINFOmove_groupMoveGroup debug mode is ON + 9.48sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.52sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.53sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.53sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.53sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.53sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.53sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.53sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.53sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170280 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170280 ms (missed cycles : 2).[0m ×2 + 9.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.59sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.64sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.64sINFOmove_group ×8 + 9.64sINFOmove_group****************************************************** ×4 + 9.64sINFOmove_group* MoveGroup using: ×2 + 9.64sINFOmove_group* - apply_planning_scene_service ×2 + 9.64sINFOmove_group* - clear_octomap_service ×2 + 9.64sINFOmove_group* - get_group_urdf ×2 + 9.64sINFOmove_group* - load_geometry_from_file ×2 + 9.64sINFOmove_group* - get_planning_scene_service ×2 + 9.64sINFOmove_group* - kinematics_service ×2 + 9.64sINFOmove_group* - save_geometry_to_file ×2 + 9.64sINFOmove_group* - GetPlanningGroups ×2 + 9.64sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.64sINFOmove_group[0m ×2 + 9.64sINFOmove_group[92mYou can start planning now![0m ×2 + 9.80sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.80sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.91sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.92sINFOros2_control_node[2026-10-08 23:30:30.279] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.93sINFOros2_control_node[2026-10-08 23:30:30.283] [info] Controller state will be published at 10 Hz. ×2 + 9.93sINFOros2_control_node[2026-10-08 23:30:30.285] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.12sINFOcomponent_container_mt[2026-10-08 23:30:30.475] [moveit_pro_license] [info] ×2 + 10.12sINFOcomponent_container_mt************************************************* ×4 + 10.12sINFOcomponent_container_mt* MoveIt Pro License ×2 + 10.12sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.24sWARNros2_control_nodeCamera render tick took 0.87 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.25sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.25sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.25sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.25sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 10.25sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.25sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 10.28sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.28sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.28sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.28sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.30sINFOros2-21process has finished cleanly [pid 7855] ×2 + 10.33sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 10.33sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 10.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.51sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.51sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160790 ms (missed cycles : 5). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160790 ms (missed cycles : 5).[0m ×2 + 10.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.75sINFOros2_control_node[2026-10-08 23:30:31.104] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.75sINFOros2_control_node[2026-10-08 23:30:31.106] [info] Controller state will be published at 10 Hz. ×2 + 10.75sINFOros2_control_node[2026-10-08 23:30:31.107] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 11.05sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.05sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.05sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.05sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.08sINFOros2-22process has finished cleanly [pid 7856] ×2 + 11.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 11.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 11.22sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.22sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.22sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.22sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.28sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791502229.735 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.60sINFOros2_control_node[2026-10-08 23:30:31.957] [info] Controller state will be published at 20 Hz. ×2 + 11.60sINFOros2_control_node[2026-10-08 23:30:31.958] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096592 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096592 ms (missed cycles : 2).[0m ×2 + 11.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 11.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 11.95sINFOros2-24process has finished cleanly [pid 7860] ×2 + 11.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.29sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.29sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.29sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.29sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.29sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 12.29sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 12.35sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.35sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.35sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.35sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.35sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.35sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.35sINFOros2-16process has finished cleanly [pid 7850] ×2 + 12.36sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.36sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 12.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 12.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 12.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 12.68sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 12.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150497 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150497 ms (missed cycles : 2).[0m ×2 + 12.74sINFOros2-15process has finished cleanly [pid 7849] ×2 + 12.75sINFOlocal_costmap.local_costmapstart + 12.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 12.81sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 12.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.81sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.81sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.81sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.81sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.82sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.82sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.82sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.85sWARNcontroller_serverParameter controller_server.verbose not found + 12.85sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.96sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.96sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.96sINFOsmoother_serverActivating + 12.96sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.06sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.06sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.06sINFOplanner_serverActivating + 13.06sINFOglobal_costmap.global_costmapActivating + 13.06sINFOglobal_costmap.global_costmapChecking transform + 13.06sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 13.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 13.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 13.11sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 13.11sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 13.11sINFOros2-20process has finished cleanly [pid 7854] ×2 + 13.17sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 13.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 13.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.18sINFOplatform_velocity_controller_nav2configure successful + 13.19sINFOamclParticle filter update iteration stats: 1756 particles 811 points - 22.440ms + 13.50sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.50sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.50sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.50sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 13.50sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.50sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 13.56sINFOros2-19process has finished cleanly [pid 7853] ×2 + 13.56sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.56sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.56sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.56sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1791502233.911971, but only time 1791502234.009866 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.56sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.57sINFOplatform_velocity_controllerconfigure successful + 13.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.58sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 13.58sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692027 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692027 ms (missed cycles : 2).[0m ×2 + 13.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 13.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd + 13.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_zfo8q3al --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vo2m_du --params-file /tmp/launch_params_8l2ylvdd [0m ×2 + 13.92sINFOros2-17process has finished cleanly [pid 7851] ×2 + 13.97sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 13.97sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 13.97sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.97sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 14.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 14.07sINFOglobal_costmap.global_costmapstart + 14.45sINFOros2_control_node[2026-10-08 23:30:34.812] [info] Controller state will be published at 20 Hz. ×2 + 14.46sINFOros2_control_node[2026-10-08 23:30:34.813] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.79sINFOros2-23process has finished cleanly [pid 7859] ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436604 ms (missed cycles : 3). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436604 ms (missed cycles : 3).[0m ×2 + 15.03sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 15.12sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.12sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 15.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 15.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 15.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 15.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 15.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 15.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.22sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.22sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.22sINFObehavior_serverActivating + 15.22sINFObehavior_serverActivating spin + 15.22sINFObehavior_serverActivating backup + 15.22sINFObehavior_serverActivating drive_on_heading + 15.22sINFObehavior_serverActivating assisted_teleop + 15.22sINFObehavior_serverActivating wait + 15.22sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.33sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.33sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.33sINFObt_navigatorActivating + 15.39sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.50sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.50sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.50sINFOwaypoint_followerActivating + 15.50sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.60sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.60sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.60sINFOvelocity_smootherActivating + 15.60sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.71sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.71sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.71sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714585 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714585 ms (missed cycles : 2).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923167 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923167 ms (missed cycles : 2).[0m ×2 + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 18.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 20.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 20.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 20.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 20.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 20.85sINFOobjective_server_nodecaller: ×8 + 20.85sINFOobjective_server_nodetype: 0 ×8 + 20.85sINFOobjective_server_nodename: "" ×8 + 20.85sINFOobjective_server_nodeinstance_id: "" ×8 + 20.85sINFOobjective_server_node ×8 + 20.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 20.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 20.90sINFOmove_groupClearing octomap...[0m ×4 + 20.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 20.90sINFOmove_groupOctomap cleared.[0m ×4 + 20.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 20.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 21.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 21.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 22.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 22.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 22.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 22.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 22.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 22.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 22.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 22.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 22.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	21 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923167 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923167 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 1.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 2.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.98sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.98sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.98sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.98sINFOobjective_server_nodecaller: ×10 + 3.98sINFOobjective_server_nodetype: 0 ×10 + 3.98sINFOobjective_server_nodename: "" ×10 + 3.98sINFOobjective_server_nodeinstance_id: "" ×10 + 3.98sINFOobjective_server_node ×10 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 4.02sINFOmove_groupClearing octomap...[0m ×4 + 4.02sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 4.02sINFOmove_groupOctomap cleared.[0m ×4 + 4.02sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 5.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.64sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

13 pass28 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.5s	3 errors · 262 warnings · 283 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735614 ms (missed cycles : 3).[0m ×2 + 0.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.284ms + 0.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.434ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387094 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387094 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.714ms + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.437ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570109 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570109 ms (missed cycles : 4).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.752ms + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.177ms + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOjoint_trajectory_controllerGot request to cancel goal + 3.09sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.09sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502452.66015100 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOstate_estimatorReceived a set_pose request (stamp: 1791502452677217045, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262162 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262162 ms (missed cycles : 4).[0m ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.74) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.185ms + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791502453.26227474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOamclParticle filter update iteration stats: 4931 particles 811 points - 8.656ms + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.93sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568174, y=-0.017182, yaw=-0.0184027 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796316 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796316 ms (missed cycles : 3).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.883ms + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097309 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097309 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429058 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429058 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267653 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267653 ms (missed cycles : 4).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588962 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588962 ms (missed cycles : 3).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.806ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052646 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052646 ms (missed cycles : 2).[0m ×2 + 9.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.171ms + 10.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.643ms ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918244 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918244 ms (missed cycles : 2).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.877ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412372 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412372 ms (missed cycles : 3).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.520ms + 12.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.596ms + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432254 ms (missed cycles : 4). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432254 ms (missed cycles : 4).[0m ×2 + 12.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.930ms + 13.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.496ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573303 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573303 ms (missed cycles : 2).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.885ms + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.570ms + 14.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580826 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580826 ms (missed cycles : 2).[0m ×2 + 15.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.727ms + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.771ms + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924239 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924239 ms (missed cycles : 2).[0m ×2 + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.389ms + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.498ms + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123483 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123483 ms (missed cycles : 2).[0m ×2 + 17.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.262ms + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.296ms + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409929 ms (missed cycles : 6). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409929 ms (missed cycles : 6).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.325ms + 18.78sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.032ms + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397811 ms (missed cycles : 4). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397811 ms (missed cycles : 4).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.685ms + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.939ms + 19.82sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771180 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771180 ms (missed cycles : 2).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.485ms + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672176 ms (missed cycles : 2). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672176 ms (missed cycles : 2).[0m ×2 + 21.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.155ms + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.490ms + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210981 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210981 ms (missed cycles : 2).[0m ×2 + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.778ms + 22.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.497ms + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145908 ms (missed cycles : 2). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145908 ms (missed cycles : 2).[0m ×2 + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.880ms + 23.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711458 ms (missed cycles : 2). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711458 ms (missed cycles : 2).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.081ms + 24.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.087ms + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673096 ms (missed cycles : 3). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673096 ms (missed cycles : 3).[0m ×2 + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.238ms + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.597ms + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817790 ms (missed cycles : 2). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817790 ms (missed cycles : 2).[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.546ms + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.495ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116129 ms (missed cycles : 2). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116129 ms (missed cycles : 2).[0m ×2 + 27.34sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.714ms + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.793ms + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.738ms + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043738 ms (missed cycles : 2). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043738 ms (missed cycles : 2).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.974ms + 29.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.339ms + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126451 ms (missed cycles : 2). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126451 ms (missed cycles : 2).[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.141ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.773ms + 30.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832171 ms (missed cycles : 3). + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832171 ms (missed cycles : 3).[0m ×2 + 30.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.070ms + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.418ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858579 ms (missed cycles : 2). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858579 ms (missed cycles : 2).[0m ×2 + 31.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.085ms + 31.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 32.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.332ms + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362674 ms (missed cycles : 3). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362674 ms (missed cycles : 3).[0m ×2 + 32.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.351ms + 33.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.094ms + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320193 ms (missed cycles : 2). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320193 ms (missed cycles : 2).[0m ×2 + 34.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.637ms + 34.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080806 ms (missed cycles : 4). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080806 ms (missed cycles : 4).[0m ×2 + 34.91sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.91sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.49sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741980 ms (missed cycles : 2). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741980 ms (missed cycles : 2).[0m ×2 + 36.54sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 36.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 36.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733709 ms (missed cycles : 2). + 36.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733709 ms (missed cycles : 2).[0m ×2 + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238790 ms (missed cycles : 2). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238790 ms (missed cycles : 2).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730657 ms (missed cycles : 2). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730657 ms (missed cycles : 2).[0m ×2 + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.353ms + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.141ms + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798533 ms (missed cycles : 2). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798533 ms (missed cycles : 2).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.160ms + 40.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.678ms + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794590 ms (missed cycles : 2). + 41.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794590 ms (missed cycles : 2).[0m ×2 + 41.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.987ms + 42.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.522ms + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283067 ms (missed cycles : 4). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283067 ms (missed cycles : 4).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.502079 ms (missed cycles : 7). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.502079 ms (missed cycles : 7).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628074 ms (missed cycles : 3). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628074 ms (missed cycles : 3).[0m ×2 + 44.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.421ms + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056424 ms (missed cycles : 4). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056424 ms (missed cycles : 4).[0m ×2 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756254 ms (missed cycles : 5). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756254 ms (missed cycles : 5).[0m ×2 + 46.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.286ms + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383876 ms (missed cycles : 4). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383876 ms (missed cycles : 4).[0m ×2 + 47.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.268ms + 48.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.110ms + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083415 ms (missed cycles : 5). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083415 ms (missed cycles : 5).[0m ×2 + 48.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.592ms + 49.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.792ms + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784689 ms (missed cycles : 2). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784689 ms (missed cycles : 2).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.545ms + 50.41sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 50.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668604 ms (missed cycles : 2). + 50.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668604 ms (missed cycles : 2).[0m ×2 + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353241 ms (missed cycles : 6). + 52.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353241 ms (missed cycles : 6).[0m ×2 + 53.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178295 ms (missed cycles : 2). + 53.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178295 ms (missed cycles : 2).[0m ×2 + 54.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958441 ms (missed cycles : 2). + 54.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958441 ms (missed cycles : 2).[0m ×2 + 54.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.340ms + 54.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.552ms + 55.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.198910 ms (missed cycles : 7). + 55.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.198910 ms (missed cycles : 7).[0m ×2 + 55.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.505ms + 55.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.519ms + 56.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921656 ms (missed cycles : 5). + 56.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921656 ms (missed cycles : 5).[0m ×2 + 56.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.376ms + 57.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393506 ms (missed cycles : 3). + 57.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393506 ms (missed cycles : 3).[0m ×2 + 57.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.403ms + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267065 ms (missed cycles : 3). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267065 ms (missed cycles : 3).[0m ×2 + 58.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.342ms + 59.37sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666774 ms (missed cycles : 3). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666774 ms (missed cycles : 3).[0m ×2 + 60.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222403 ms (missed cycles : 4). + 60.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222403 ms (missed cycles : 4).[0m ×2 + 61.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418298 ms (missed cycles : 4). + 61.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418298 ms (missed cycles : 4).[0m ×2 + 62.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744580 ms (missed cycles : 2). + 62.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744580 ms (missed cycles : 2).[0m ×2 + 63.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205252 ms (missed cycles : 2). + 63.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205252 ms (missed cycles : 2).[0m ×2 + 64.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.275ms + 64.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286539 ms (missed cycles : 2). + 64.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286539 ms (missed cycles : 2).[0m ×2 + 65.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.035ms + 65.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853507 ms (missed cycles : 2). + 65.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853507 ms (missed cycles : 2).[0m ×2 + 66.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.333ms + 66.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.545ms + 66.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257429 ms (missed cycles : 5). + 66.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257429 ms (missed cycles : 5).[0m ×2 + 66.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.383ms + 67.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.602ms + 67.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.310ms + 68.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871250 ms (missed cycles : 3). + 68.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871250 ms (missed cycles : 3).[0m ×2 + 68.58sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791502518.15246034 seconds ×3 + 68.62sINFOstate_estimatorReceived a set_pose request (stamp: 1791502518176883913, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 68.74sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.59) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 68.74sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 68.84sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.84sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.94sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.94sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.45) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 69.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.13sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119808 ms (missed cycles : 2). + 69.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119808 ms (missed cycles : 2).[0m ×2 + 69.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791502518.74796891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.659ms + 69.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568233, y=-0.0171819, yaw=-0.0184025 + 69.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.445ms + 70.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805176 ms (missed cycles : 3). + 70.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805176 ms (missed cycles : 3).[0m ×2 + 71.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583973 ms (missed cycles : 4). + 71.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583973 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	219 warnings · 220 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×12 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.68sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.15sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.15sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082574 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082574 ms (missed cycles : 2).[0m ×2 + 8.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.251ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198369 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198369 ms (missed cycles : 2).[0m ×2 + 9.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.575ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942720 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942720 ms (missed cycles : 3).[0m ×2 + 10.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.922ms + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582127 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582127 ms (missed cycles : 2).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.642ms + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710846 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710846 ms (missed cycles : 3).[0m ×2 + 11.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.808ms + 12.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.437ms + 12.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.239ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890627 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890627 ms (missed cycles : 2).[0m ×2 + 13.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.663ms + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.737ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133405 ms (missed cycles : 5). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133405 ms (missed cycles : 5).[0m ×2 + 14.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.385ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094879 ms (missed cycles : 5). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094879 ms (missed cycles : 5).[0m ×2 + 15.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.354ms + 15.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.939ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693699 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693699 ms (missed cycles : 2).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.658ms + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.201ms + 16.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227984 ms (missed cycles : 3). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227984 ms (missed cycles : 3).[0m ×2 + 17.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.200ms + 17.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.359ms + 17.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690818 ms (missed cycles : 3). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690818 ms (missed cycles : 3).[0m ×2 + 18.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.366ms + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.117ms + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.250335 ms (missed cycles : 6). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.250335 ms (missed cycles : 6).[0m ×2 + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.377ms + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.150ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.674ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552188 ms (missed cycles : 4). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552188 ms (missed cycles : 4).[0m ×2 + 20.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.367ms + 21.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.220ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844842 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844842 ms (missed cycles : 2).[0m ×2 + 21.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.469ms + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.416ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879255 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879255 ms (missed cycles : 2).[0m ×2 + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.405ms + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.814ms + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992170 ms (missed cycles : 3). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992170 ms (missed cycles : 3).[0m ×2 + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.261ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.949ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610885 ms (missed cycles : 5). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610885 ms (missed cycles : 5).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.388ms + 25.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.384ms + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716495 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716495 ms (missed cycles : 2).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.453ms + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.516ms + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770934 ms (missed cycles : 2). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770934 ms (missed cycles : 2).[0m ×2 + 26.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.922ms + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.672ms + 27.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.714ms + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192971 ms (missed cycles : 2). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192971 ms (missed cycles : 2).[0m ×2 + 28.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.822ms + 28.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.953ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521632 ms (missed cycles : 3). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521632 ms (missed cycles : 3).[0m ×2 + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.878ms + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.467ms + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982041 ms (missed cycles : 3). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982041 ms (missed cycles : 3).[0m ×2 + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.449ms + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.921ms + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495532 ms (missed cycles : 4). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495532 ms (missed cycles : 4).[0m ×2 + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.069ms + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.174ms + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834548 ms (missed cycles : 3). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834548 ms (missed cycles : 3).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.097ms + 32.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.055ms + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450001 ms (missed cycles : 2). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450001 ms (missed cycles : 2).[0m ×2 + 33.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.059ms + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076198 ms (missed cycles : 4). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076198 ms (missed cycles : 4).[0m ×2 + 34.56sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712376 ms (missed cycles : 4). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712376 ms (missed cycles : 4).[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414903 ms (missed cycles : 2). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414903 ms (missed cycles : 2).[0m ×2 + 36.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.928ms + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835322 ms (missed cycles : 3). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835322 ms (missed cycles : 3).[0m ×2 + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187587 ms (missed cycles : 4). + 38.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187587 ms (missed cycles : 4).[0m ×2 + 39.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.383ms + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872955 ms (missed cycles : 3). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872955 ms (missed cycles : 3).[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774568 ms (missed cycles : 3). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774568 ms (missed cycles : 3).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.012ms + 42.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745697 ms (missed cycles : 2). + 42.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745697 ms (missed cycles : 2).[0m ×2 + 42.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.752ms + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725347 ms (missed cycles : 2). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725347 ms (missed cycles : 2).[0m ×2 + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824119 ms (missed cycles : 5). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824119 ms (missed cycles : 5).[0m ×2 + 44.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.430ms + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951260 ms (missed cycles : 2). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951260 ms (missed cycles : 2).[0m ×2 + 45.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.324ms + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354989 ms (missed cycles : 5). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354989 ms (missed cycles : 5).[0m ×2 + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455847 ms (missed cycles : 3). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455847 ms (missed cycles : 3).[0m ×2 + 47.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.183ms + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962050 ms (missed cycles : 3). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962050 ms (missed cycles : 3).[0m ×2 + 48.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.569ms + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346234 ms (missed cycles : 3). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346234 ms (missed cycles : 3).[0m ×2 + 50.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620969 ms (missed cycles : 4). + 50.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620969 ms (missed cycles : 4).[0m ×2 + 51.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.016ms + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707406 ms (missed cycles : 2). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707406 ms (missed cycles : 2).[0m ×2 + 52.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.217ms + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446546 ms (missed cycles : 3). + 53.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446546 ms (missed cycles : 3).[0m ×2 + 54.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612932 ms (missed cycles : 3). + 54.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612932 ms (missed cycles : 3).[0m ×2 + 55.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.839ms + 55.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786209 ms (missed cycles : 3). + 55.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786209 ms (missed cycles : 3).[0m ×2 + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989865 ms (missed cycles : 2). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989865 ms (missed cycles : 2).[0m ×2 + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050426 ms (missed cycles : 5). + 57.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050426 ms (missed cycles : 5).[0m ×2 + 58.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531053 ms (missed cycles : 3). + 58.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531053 ms (missed cycles : 3).[0m ×2 + 59.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191746 ms (missed cycles : 2). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191746 ms (missed cycles : 2).[0m ×2 + 59.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.480ms + 60.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791502582.09643269 seconds ×3 + 60.20sINFOstate_estimatorReceived a set_pose request (stamp: 1791502582111570938, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.37sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.37sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.920ms + 60.67sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 12.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.67sWARNlocal_costmap.local_costmapSensor origin at (-3.81, 12.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.70sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772794 ms (missed cycles : 2). + 60.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772794 ms (missed cycles : 2).[0m ×2 + 60.76sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791502582.69452810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.11sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.328ms + 61.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.11sINFOamclInitializing particles from estimated pose and covariance + 61.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567959, y=-0.0171826, yaw=-0.0184033 + 61.15sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 61.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.045ms + 61.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987747 ms (missed cycles : 2). + 61.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987747 ms (missed cycles : 2).[0m ×2 + 62.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584559 ms (missed cycles : 3). + 62.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584559 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.4s	210 warnings · 232 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.915ms + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.766ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094735 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094735 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.457ms + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.661ms + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.527ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872651 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872651 ms (missed cycles : 2).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.633ms + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.889ms + 3.06sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.06sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.10sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791502293.06957722 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204937 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204937 ms (missed cycles : 3).[0m ×2 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOstate_estimatorReceived a set_pose request (stamp: 1791502293093315192, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.817ms + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.68sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 9.428ms + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791502293.66909456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381945 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381945 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033905 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033905 ms (missed cycles : 2).[0m ×2 + 5.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.37sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.37sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.209ms + 6.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175863 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175863 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.50sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.50sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785901 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785901 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696243 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696243 ms (missed cycles : 2).[0m ×2 + 8.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.813ms + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053714 ms (missed cycles : 4). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053714 ms (missed cycles : 4).[0m ×2 + 9.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.610ms + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557029 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557029 ms (missed cycles : 2).[0m ×2 + 10.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.163ms + 11.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418129 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418129 ms (missed cycles : 2).[0m ×2 + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.443ms + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077940 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077940 ms (missed cycles : 2).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.798ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266722 ms (missed cycles : 4). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266722 ms (missed cycles : 4).[0m ×2 + 13.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.136ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.092ms + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322909 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322909 ms (missed cycles : 2).[0m ×2 + 15.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.050ms + 15.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.818ms + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057059 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057059 ms (missed cycles : 3).[0m ×2 + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.935ms + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.292ms + 16.52sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354512 ms (missed cycles : 3). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354512 ms (missed cycles : 3).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.735ms + 17.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.793ms + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996211 ms (missed cycles : 3). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996211 ms (missed cycles : 3).[0m ×2 + 17.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.207ms + 18.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.346ms + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.099612 ms (missed cycles : 5). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.099612 ms (missed cycles : 5).[0m ×2 + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.087ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062383 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062383 ms (missed cycles : 2).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.686ms + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.212ms + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559829 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559829 ms (missed cycles : 2).[0m ×2 + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.415ms + 21.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.956ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059224 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059224 ms (missed cycles : 2).[0m ×2 + 21.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.079ms + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.571ms + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.245ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257394 ms (missed cycles : 3). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257394 ms (missed cycles : 3).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.346ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.847ms + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013243 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013243 ms (missed cycles : 2).[0m ×2 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.480ms + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.844ms + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915147 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915147 ms (missed cycles : 2).[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.065ms + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.969ms + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175527 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175527 ms (missed cycles : 2).[0m ×2 + 26.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.359ms + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.920ms + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695481 ms (missed cycles : 3). + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695481 ms (missed cycles : 3).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.299ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.603ms + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572733 ms (missed cycles : 3). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572733 ms (missed cycles : 3).[0m ×2 + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.315ms + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.400ms + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.970ms + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659593 ms (missed cycles : 4). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659593 ms (missed cycles : 4).[0m ×2 + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.592ms + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.272ms + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683496 ms (missed cycles : 2). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683496 ms (missed cycles : 2).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.954ms + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.869ms + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943332 ms (missed cycles : 3). + 31.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943332 ms (missed cycles : 3).[0m ×2 + 31.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.996ms + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.640ms + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845354 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845354 ms (missed cycles : 3).[0m ×2 + 32.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.113ms + 33.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383502 ms (missed cycles : 2). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383502 ms (missed cycles : 2).[0m ×2 + 34.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.016ms + 34.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976257 ms (missed cycles : 5). + 34.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976257 ms (missed cycles : 5).[0m ×2 + 34.91sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036012 ms (missed cycles : 3). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036012 ms (missed cycles : 3).[0m ×2 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375836 ms (missed cycles : 4). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375836 ms (missed cycles : 4).[0m ×2 + 37.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.289ms + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371550 ms (missed cycles : 4). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371550 ms (missed cycles : 4).[0m ×2 + 38.51sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 38.53sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037615 ms (missed cycles : 5). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037615 ms (missed cycles : 5).[0m ×2 + 39.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.484ms + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303383 ms (missed cycles : 2). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303383 ms (missed cycles : 2).[0m ×2 + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384877 ms (missed cycles : 3). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384877 ms (missed cycles : 3).[0m ×2 + 41.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.665ms + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774894 ms (missed cycles : 2). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774894 ms (missed cycles : 2).[0m ×2 + 42.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.624ms + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803388 ms (missed cycles : 3). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803388 ms (missed cycles : 3).[0m ×2 + 44.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.746847 ms (missed cycles : 5). + 44.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.746847 ms (missed cycles : 5).[0m ×2 + 44.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.809ms + 45.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309477 ms (missed cycles : 3). + 45.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309477 ms (missed cycles : 3).[0m ×2 + 45.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.028ms + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733780 ms (missed cycles : 3). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733780 ms (missed cycles : 3).[0m ×2 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398123 ms (missed cycles : 4). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398123 ms (missed cycles : 4).[0m ×2 + 48.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.264ms + 48.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988186 ms (missed cycles : 5). + 48.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988186 ms (missed cycles : 5).[0m ×2 + 49.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102332 ms (missed cycles : 4). + 49.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102332 ms (missed cycles : 4).[0m ×2 + 50.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484521 ms (missed cycles : 6). + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484521 ms (missed cycles : 6).[0m ×2 + 51.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171525 ms (missed cycles : 4). + 51.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171525 ms (missed cycles : 4).[0m ×2 + 52.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms + 52.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459643 ms (missed cycles : 2). + 52.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459643 ms (missed cycles : 2).[0m ×2 + 53.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581525 ms (missed cycles : 2). + 53.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581525 ms (missed cycles : 2).[0m ×2 + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402184 ms (missed cycles : 3). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402184 ms (missed cycles : 3).[0m ×2 + 55.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.259ms + 55.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.161139 ms (missed cycles : 5). + 55.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.161139 ms (missed cycles : 5).[0m ×2 + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.434065 ms (missed cycles : 4). + 57.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.434065 ms (missed cycles : 4).[0m ×2 + 58.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5). + 58.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5).[0m ×2 + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3).[0m ×2 + 59.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4). + 60.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4).[0m ×2 + 60.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791502350.47924471 seconds ×3 + 60.55sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 60.55sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 60.56sINFOstate_estimatorReceived a set_pose request (stamp: 1791502350503599332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.63sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 60.63sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 61.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.06sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2).[0m ×2 + 61.11sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791502351.08296514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.13sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.192ms + 61.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 61.51sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 61.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.793ms + 61.85sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3). + 62.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3).[0m ×2 + 63.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2). + 63.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.2s	228 warnings · 242 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.383ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.242ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.464ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.02sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.05sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791502389.73277712 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1791502389755074497, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2).[0m ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791502390.32886314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.556ms + 3.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.99sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.99sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567988, y=-0.0171825, yaw=-0.0184032 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.704ms + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.47sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.47sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256315 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256315 ms (missed cycles : 2).[0m ×2 + 8.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.516ms + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109479 ms (missed cycles : 5). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109479 ms (missed cycles : 5).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.716ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980830 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980830 ms (missed cycles : 3).[0m ×2 + 10.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.209ms + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587501 ms (missed cycles : 4). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587501 ms (missed cycles : 4).[0m ×2 + 11.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.157ms + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750118 ms (missed cycles : 3). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750118 ms (missed cycles : 3).[0m ×2 + 12.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.623ms + 12.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.072ms + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909679 ms (missed cycles : 3). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909679 ms (missed cycles : 3).[0m ×2 + 13.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.112ms + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.399ms + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905677 ms (missed cycles : 4). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905677 ms (missed cycles : 4).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.701ms + 14.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.738ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.664ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595051 ms (missed cycles : 3). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595051 ms (missed cycles : 3).[0m ×2 + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.899ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240965 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240965 ms (missed cycles : 2).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.283ms + 17.29sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.156ms + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826837 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826837 ms (missed cycles : 2).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.324ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.751ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834380 ms (missed cycles : 2). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834380 ms (missed cycles : 2).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.205ms + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.734ms + 19.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695159 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695159 ms (missed cycles : 2).[0m ×2 + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.327ms + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.259ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464566 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464566 ms (missed cycles : 3).[0m ×2 + 20.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.278ms + 21.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.981ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105356 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105356 ms (missed cycles : 2).[0m ×2 + 21.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.196ms + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.822ms + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028150 ms (missed cycles : 4). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028150 ms (missed cycles : 4).[0m ×2 + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.182ms + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.899ms + 23.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.961ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382496 ms (missed cycles : 3). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382496 ms (missed cycles : 3).[0m ×2 + 24.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.462ms + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.458ms + 25.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729946 ms (missed cycles : 2). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729946 ms (missed cycles : 2).[0m ×2 + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.019ms + 25.84sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 25.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.293ms + 25.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594012 ms (missed cycles : 4). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594012 ms (missed cycles : 4).[0m ×2 + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.367ms + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.593ms + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960346 ms (missed cycles : 2). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960346 ms (missed cycles : 2).[0m ×2 + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.720ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.403ms + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202419 ms (missed cycles : 3). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202419 ms (missed cycles : 3).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.507ms + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.314ms + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097238 ms (missed cycles : 2). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097238 ms (missed cycles : 2).[0m ×2 + 29.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.090ms + 29.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.846ms + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308563 ms (missed cycles : 2). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308563 ms (missed cycles : 2).[0m ×2 + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.935ms + 30.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.142ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197507 ms (missed cycles : 2). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197507 ms (missed cycles : 2).[0m ×2 + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.952ms + 31.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.306ms + 31.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985353 ms (missed cycles : 5). + 32.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985353 ms (missed cycles : 5).[0m ×2 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.820ms + 32.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.736ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339000 ms (missed cycles : 3). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339000 ms (missed cycles : 3).[0m ×2 + 33.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.404ms + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064100 ms (missed cycles : 2). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064100 ms (missed cycles : 2).[0m ×2 + 35.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.645ms + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403455 ms (missed cycles : 4). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403455 ms (missed cycles : 4).[0m ×2 + 36.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944413 ms (missed cycles : 5). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944413 ms (missed cycles : 5).[0m ×2 + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960871 ms (missed cycles : 5). + 37.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960871 ms (missed cycles : 5).[0m ×2 + 37.69sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.47sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396727 ms (missed cycles : 2). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396727 ms (missed cycles : 2).[0m ×2 + 39.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472872 ms (missed cycles : 3). + 39.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472872 ms (missed cycles : 3).[0m ×2 + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.465548 ms (missed cycles : 6). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.465548 ms (missed cycles : 6).[0m ×2 + 41.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.913ms + 41.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.224ms + 41.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115405 ms (missed cycles : 2). + 41.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115405 ms (missed cycles : 2).[0m ×2 + 42.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.177ms + 42.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.197ms + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724093 ms (missed cycles : 2). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724093 ms (missed cycles : 2).[0m ×2 + 43.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.135ms + 43.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717677 ms (missed cycles : 3). + 43.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717677 ms (missed cycles : 3).[0m ×2 + 44.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.672ms + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205974 ms (missed cycles : 4). + 45.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205974 ms (missed cycles : 4).[0m ×2 + 46.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628288 ms (missed cycles : 3). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628288 ms (missed cycles : 3).[0m ×2 + 46.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.442ms + 47.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.528ms + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637882 ms (missed cycles : 6). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637882 ms (missed cycles : 6).[0m ×2 + 47.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.063ms + 48.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.792ms + 48.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248928 ms (missed cycles : 2). + 48.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248928 ms (missed cycles : 2).[0m ×2 + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.698ms + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772638 ms (missed cycles : 3). + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772638 ms (missed cycles : 3).[0m ×2 + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.596ms + 49.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.200ms + 50.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824189 ms (missed cycles : 2). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824189 ms (missed cycles : 2).[0m ×2 + 50.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.506ms + 51.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571905 ms (missed cycles : 2). + 51.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571905 ms (missed cycles : 2).[0m ×2 + 51.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.013ms + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982509 ms (missed cycles : 2). + 52.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982509 ms (missed cycles : 2).[0m ×2 + 53.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562144 ms (missed cycles : 4). + 53.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562144 ms (missed cycles : 4).[0m ×2 + 53.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.681ms + 54.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639999 ms (missed cycles : 3). + 54.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639999 ms (missed cycles : 3).[0m ×2 + 54.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.724ms + 55.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791502441.92900872 seconds ×3 + 55.29sINFOstate_estimatorReceived a set_pose request (stamp: 1791502441946943900, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 55.33sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.61) is out of map bounds (-3.75, 3.10) to (1.23, 8.08). The costmap cannot raytrace for it. + 55.33sWARNlocal_costmap.local_costmapSensor origin at (-2.88, 12.13) is out of map bounds (-3.75, 3.10) to (1.23, 8.08). The costmap cannot raytrace for it. + 55.43sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.61) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 55.43sWARNlocal_costmap.local_costmapSensor origin at (-2.88, 12.13) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 55.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839791 ms (missed cycles : 3). + 55.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839791 ms (missed cycles : 3).[0m ×2 + 55.53sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.53sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.80sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.87sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791502442.54527140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.433ms + 55.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568595, y=-0.0171806, yaw=-0.0184001 + 56.27sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 56.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.416ms + 56.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777271 ms (missed cycles : 2). + 56.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777271 ms (missed cycles : 2).[0m ×2 + 57.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317659 ms (missed cycles : 2). + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317659 ms (missed cycles : 2).[0m ×2 + 58.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983635 ms (missed cycles : 3). + 58.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983635 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	144 warnings · 426 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.08sINFOobjective_server_nodecaller: ×12 + 1.08sINFOobjective_server_nodetype: 0 ×12 + 1.08sINFOobjective_server_nodename: "" ×12 + 1.08sINFOobjective_server_nodeinstance_id: "" ×12 + 1.08sINFOobjective_server_node ×12 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.16sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138894 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138894 ms (missed cycles : 2).[0m ×2 + 7.82sINFOamclParticle filter update iteration stats: 1086 particles 811 points - 9.920ms + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143997 ms (missed cycles : 4). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143997 ms (missed cycles : 4).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999390 ms (missed cycles : 3). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999390 ms (missed cycles : 3).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310369 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310369 ms (missed cycles : 2).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460461 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460461 ms (missed cycles : 3).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147295 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147295 ms (missed cycles : 2).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196180 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196180 ms (missed cycles : 3).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263586 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263586 ms (missed cycles : 2).[0m ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196992 ms (missed cycles : 4). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196992 ms (missed cycles : 4).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753685 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753685 ms (missed cycles : 2).[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439728 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439728 ms (missed cycles : 3).[0m ×2 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039595 ms (missed cycles : 4). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039595 ms (missed cycles : 4).[0m ×2 + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878081 ms (missed cycles : 2). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878081 ms (missed cycles : 2).[0m ×2 + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690845 ms (missed cycles : 3). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690845 ms (missed cycles : 3).[0m ×2 + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585474 ms (missed cycles : 4). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585474 ms (missed cycles : 4).[0m ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979248 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979248 ms (missed cycles : 2).[0m ×2 + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857608 ms (missed cycles : 5). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857608 ms (missed cycles : 5).[0m ×2 + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.340ms + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431455 ms (missed cycles : 3). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431455 ms (missed cycles : 3).[0m ×2 + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099089 ms (missed cycles : 4). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099089 ms (missed cycles : 4).[0m ×2 + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789483 ms (missed cycles : 3). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789483 ms (missed cycles : 3).[0m ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483474 ms (missed cycles : 3). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483474 ms (missed cycles : 3).[0m ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194629 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194629 ms (missed cycles : 2).[0m ×2 + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570667 ms (missed cycles : 4). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570667 ms (missed cycles : 4).[0m ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956227 ms (missed cycles : 2). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956227 ms (missed cycles : 2).[0m ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682582 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682582 ms (missed cycles : 2).[0m ×2 + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812857 ms (missed cycles : 2). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812857 ms (missed cycles : 2).[0m ×2 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770374 ms (missed cycles : 3). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770374 ms (missed cycles : 3).[0m ×2 + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902703 ms (missed cycles : 3). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902703 ms (missed cycles : 3).[0m ×2 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714477 ms (missed cycles : 2). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714477 ms (missed cycles : 2).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531889 ms (missed cycles : 2). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531889 ms (missed cycles : 2).[0m ×2 + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421860 ms (missed cycles : 3). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421860 ms (missed cycles : 3).[0m ×2 + 38.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.395ms + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423647 ms (missed cycles : 2). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423647 ms (missed cycles : 2).[0m ×2 + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277481 ms (missed cycles : 2). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277481 ms (missed cycles : 2).[0m ×2 + 41.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128668 ms (missed cycles : 2). + 41.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128668 ms (missed cycles : 2).[0m ×2 + 42.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370834 ms (missed cycles : 2). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370834 ms (missed cycles : 2).[0m ×2 + 43.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196812 ms (missed cycles : 2). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196812 ms (missed cycles : 2).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099263 ms (missed cycles : 2). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099263 ms (missed cycles : 2).[0m ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944911 ms (missed cycles : 2). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944911 ms (missed cycles : 2).[0m ×2 + 46.72sINFOjoint_trajectory_controllerGoal reached, success! + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862121 ms (missed cycles : 2). + 46.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862121 ms (missed cycles : 2).[0m ×2 + 46.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791502286.89717245 seconds ×3 + 46.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.80sINFOstate_estimatorReceived a set_pose request (stamp: 1791502286913742382, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.31sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791502287.48944163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.878ms + 47.40sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.40sINFOamclInitializing particles from estimated pose and covariance + 47.40sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.40sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.01718, yaw=-0.0183994 + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241353 ms (missed cycles : 2). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241353 ms (missed cycles : 2).[0m ×2 + 47.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.876ms + 48.47sINFOobjective_server_nodeFound path in 0 iterations (2.8251e-05 s). ×2 + 48.54sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786800 ms (missed cycles : 2). + 48.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786800 ms (missed cycles : 2).[0m ×2 + 49.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.440ms + 49.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6). + 49.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6).[0m ×2 + 50.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.915ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	140 warnings · 197 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798586 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798586 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537662 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537662 ms (missed cycles : 3).[0m ×2 + 1.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.59sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791502356.89310670 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424457 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424457 ms (missed cycles : 3).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691695 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691695 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791502358.49263334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600005 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600005 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589151 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589151 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400994 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400994 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048549 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048549 ms (missed cycles : 2).[0m ×2 + 8.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.483ms + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791218 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791218 ms (missed cycles : 2).[0m ×2 + 9.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.879ms + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997817 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997817 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.767ms + 10.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.360ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487887 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487887 ms (missed cycles : 3).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.184ms + 11.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 11.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.905ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253881 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253881 ms (missed cycles : 3).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.525ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.668ms + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819988 ms (missed cycles : 3). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819988 ms (missed cycles : 3).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.455ms ×2 + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.565ms + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626392 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626392 ms (missed cycles : 2).[0m ×2 + 14.22sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.422ms ×2 + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.276ms + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489924 ms (missed cycles : 3). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489924 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.615ms + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.583ms + 16.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.559ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220735 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220735 ms (missed cycles : 2).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 16.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.206ms + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244488 ms (missed cycles : 4). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244488 ms (missed cycles : 4).[0m ×2 + 17.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.455ms + 18.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.025ms + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524067 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524067 ms (missed cycles : 3).[0m ×2 + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.918ms + 19.27sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.050ms + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082805 ms (missed cycles : 2). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082805 ms (missed cycles : 2).[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732896 ms (missed cycles : 5). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732896 ms (missed cycles : 5).[0m ×2 + 20.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.745ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.837ms + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167794 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167794 ms (missed cycles : 2).[0m ×2 + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.925ms + 21.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 22.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.826ms + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480316 ms (missed cycles : 4). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480316 ms (missed cycles : 4).[0m ×2 + 22.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.062ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.078ms + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144469 ms (missed cycles : 3). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144469 ms (missed cycles : 3).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.238ms + 24.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.097ms + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816896 ms (missed cycles : 2). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816896 ms (missed cycles : 2).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.345ms + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.576ms + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972538 ms (missed cycles : 5). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972538 ms (missed cycles : 5).[0m ×2 + 25.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.552ms + 26.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.576ms + 26.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.894ms + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046725 ms (missed cycles : 2). + 27.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046725 ms (missed cycles : 2).[0m ×2 + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.787ms + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.263ms + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285333 ms (missed cycles : 2). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285333 ms (missed cycles : 2).[0m ×2 + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.669ms + 28.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.589ms + 28.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 29.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.795ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989172 ms (missed cycles : 2). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989172 ms (missed cycles : 2).[0m ×2 + 29.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.799ms + 30.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.153ms + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881323 ms (missed cycles : 3). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881323 ms (missed cycles : 3).[0m ×2 + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.131ms + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2).[0m ×2 + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.383ms + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.242ms + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6).[0m ×2 + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.464ms + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4).[0m ×2 + 34.43sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791502389.73277712 seconds ×3 + 34.48sINFOstate_estimatorReceived a set_pose request (stamp: 1791502389755074497, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.51sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 34.51sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 34.60sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 34.60sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2).[0m ×2 + 34.70sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.70sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 34.90sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.90sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.98sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.03sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791502390.32886314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.36sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.556ms + 35.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.37sINFOamclInitializing particles from estimated pose and covariance + 35.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.37sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567988, y=-0.0171825, yaw=-0.0184032 + 35.49sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 35.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.704ms + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3).[0m ×2 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.5s	82 warnings · 258 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050426 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050426 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531053 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531053 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191746 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191746 ms (missed cycles : 2).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.480ms + 2.59sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.59sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.63sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791502582.09643269 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.66sINFOstate_estimatorReceived a set_pose request (stamp: 1791502582111570938, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.920ms + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 12.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-3.81, 12.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772794 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772794 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791502582.69452810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.328ms + 3.57sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.57sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.57sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.57sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567959, y=-0.0171826, yaw=-0.0184033 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.045ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987747 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987747 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584559 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190019 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190019 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129890 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129890 ms (missed cycles : 4).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166746 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166746 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495800 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495800 ms (missed cycles : 3).[0m ×2 + 9.71sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 9.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 9.89sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 10.05sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.10sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 10.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.48sINFOobjective_server_nodeFound path in 0 iterations (5.57e-07 s). ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485119 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485119 ms (missed cycles : 3).[0m ×2 + 10.86sINFOobjective_server_nodeFound path in 33 iterations (0.0330969 s). ×2 + 11.34sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (6.41e-07 s). ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769601 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769601 ms (missed cycles : 5).[0m ×2 + 12.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.19sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 12.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323629 ms (missed cycles : 4). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323629 ms (missed cycles : 4).[0m ×2 + 12.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.08sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594908 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594908 ms (missed cycles : 2).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090436 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090436 ms (missed cycles : 2).[0m ×2 + 15.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.821ms + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499729 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499729 ms (missed cycles : 2).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.763ms + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306476 ms (missed cycles : 3). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306476 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.754ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382658 ms (missed cycles : 4). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382658 ms (missed cycles : 4).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.278ms + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877917 ms (missed cycles : 2). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877917 ms (missed cycles : 2).[0m ×2 + 19.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.17sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791502598.63788080 seconds ×3 + 19.21sINFOstate_estimatorReceived a set_pose request (stamp: 1791502598658539760, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.71sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502599.25980139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.79sINFOmove_groupClearing octomap...[0m ×2 + 19.79sINFOmove_groupOctomap cleared.[0m ×2 + 19.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.874ms + 19.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568341, y=-0.0171816, yaw=-0.0184021 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435065 ms (missed cycles : 3). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435065 ms (missed cycles : 3).[0m ×2 + 20.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502599.83993244 seconds ×3 + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.628ms + 20.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.91sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791502600.42098117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777623 ms (missed cycles : 2). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777623 ms (missed cycles : 2).[0m ×2 + 21.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791502601.19111180 seconds ×3 + 21.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383832 ms (missed cycles : 3).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	114 errors · 30 warnings · 550 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.754ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382658 ms (missed cycles : 4). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382658 ms (missed cycles : 4).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.278ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877917 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877917 ms (missed cycles : 2).[0m ×2 + 1.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoal reached, success! + 1.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.87sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791502598.63788080 seconds ×3 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.92sINFOstate_estimatorReceived a set_pose request (stamp: 1791502598658539760, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502599.25980139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.874ms + 2.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.65sINFOamclInitializing particles from estimated pose and covariance + 2.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.65sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568341, y=-0.0171816, yaw=-0.0184021 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435065 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435065 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502599.83993244 seconds ×3 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.628ms + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791502600.42098117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777623 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777623 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791502601.19111180 seconds ×3 + 4.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383832 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383832 ms (missed cycles : 3).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835038 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835038 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826947 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826947 ms (missed cycles : 3).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879614 ms (missed cycles : 2). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879614 ms (missed cycles : 2).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375608 ms (missed cycles : 3). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375608 ms (missed cycles : 3).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625670 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625670 ms (missed cycles : 2).[0m ×2 + 10.69sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.71sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORweb_video_auth_proxy-41process has died [pid 7927, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.71sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.73sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge_auth_proxy-40process has died [pid 7926, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.73sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.79sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.81sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.82sINFOvideo_server-39process has finished cleanly [pid 7925] ×2 + 10.82sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.84sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.85sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.86sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.86sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.87sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.88sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.89sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.91sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.92sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.93sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.94sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.96sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.97sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.97sINFOcontroller_managerShutdown request received.... + 10.97sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.97sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.98sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.98sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.98sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.98sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.98sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.98sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.98sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.98sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.98sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.98sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.98sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.98sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.98sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.98sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.98sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.98sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.98sINFOcontroller_managerShutting down the controller manager. + 10.99sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 11.01sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 11.02sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 11.02sERRORmove_group-25process has died [pid 7903, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_w9cqyrko --params-file /tmp/launch_params_z6yoe5dq --params-file /tmp/launch_params_k1_c2px5 --params-file /tmp/launch_params_8viuvqut --params-file /tmp/launch_params_3br8a49q --params-file /tmp/launch_params_mvm1ai15']. ×2 + 11.03sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.05sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.06sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.07sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 11.08sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 11.09sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 11.10sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.11sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.11sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.11sINFOmap_serverDeactivating + 11.11sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.12sINFOmap_serverCleaning up + 11.12sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.12sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.13sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.13sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.13sINFOcontroller_serverDeactivating + 11.13sINFOlocal_costmap.local_costmapDeactivating + 11.13sINFOvideo_server2026/10/08 23:36:47 INF shutting down gracefully ×2 + 11.13sINFOvideo_server2026/10/08 23:36:47 INF [WebRTC] closing ×2 + 11.13sINFOvideo_server2026/10/08 23:36:47 INF [RTSP] closing ×2 + 11.13sINFOvideo_server2026/10/08 23:36:47 INF waiting for running hooks ×2 + 11.13sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.13sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.13sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.13sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.13sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.13sERRORmove_groupStack trace (most recent call last) in thread 8561: ×2 + 11.13sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.13sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffbcff5bcc3, in __clone ×2 + 11.13sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffbcfeceb83, in ×2 + 11.13sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffbd015fdb3, in ×2 + 11.13sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7ffbd08c78e4, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.13sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ffbd04f3620, in rclcpp::Rate::sleep() ×2 + 11.13sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ffbd0435d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.13sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ffbd03f7087, in ×2 + 11.13sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffbd012e390, in __cxa_throw ×2 + 11.13sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffbd0118a54, in std::terminate() ×2 + 11.13sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.13sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.13sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffbd012e0d9, in ×2 + 11.13sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffbd0118ff4, in ×2 + 11.13sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffbcfe5a8fe, in abort ×2 + 11.13sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffbcfe7727d, in raise ×2 + 11.13sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffbcfed0c0c, in pthread_kill ×2 + 11.13sERRORmove_groupAborted (Signal sent by tkill() 7903 0) ×2 + 11.14sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.14sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.14sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.14sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.14sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.14sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.14sERRORamclThe bond connection to the lifecycle manager has been broken + 11.15sINFOcontroller_serverCleaning up + 11.15sINFOlocal_costmap.local_costmapCleaning up + 11.20sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.20sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.20sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.20sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.20sINFOsmoother_serverDeactivating + 11.20sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.21sINFOsmoother_serverCleaning up + 11.23sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.23sINFOplanner_serverDeactivating + 11.23sINFOglobal_costmap.global_costmapDeactivating + 11.30sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.30sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.30sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.30sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.30sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.30sINFOvelocity_smootherDeactivating + 11.30sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.41sINFOwaypoint_followerDeactivating + 11.41sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.60sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.60sINFObt_navigatorDeactivating + 11.60sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.66sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.66sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.67sINFOplanner_serverCleaning up + 11.69sINFOglobal_costmap.global_costmapCleaning up + 11.70sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.70sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.73sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.73sINFObehavior_serverDeactivating + 11.73sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.74sINFObehavior_serverCleaning up + 11.74sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.74sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.74sINFOwaypoint_followerCleaning up + 11.76sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.76sINFOvelocity_smootherCleaning up + 11.76sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.80sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.84sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.84sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.84sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.84sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.84sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.84sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.84sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.84sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.84sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.84sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.84sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.84sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.84sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.84sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.86sINFOtf2_web_republisher_node-38process has finished cleanly [pid 7924] ×2 + 11.86sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.86sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.86sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.86sINFObt_navigatorCleaning up + 11.87sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.87sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.87sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.87sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.87sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.87sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.87sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.87sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.87sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.87sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.87sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.87sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.87sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.87sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.87sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.87sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.87sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.87sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.87sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.87sINFOtf_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.92sINFOjoint_state_visualization_relay-37process has finished cleanly [pid 7923] ×2 + 11.92sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.93sERRORtf_visualization_relay-36process has died [pid 7922, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_db1szuyr']. ×2 + 11.93sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.98sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 7908] ×2 + 11.98sINFOmove_joint_resampler_node-28process has finished cleanly [pid 7907] ×2 + 11.99sINFOui_teleop_bridge-34process has finished cleanly [pid 7916] ×2 + 11.99sINFOexecute_objective_bridge-33process has finished cleanly [pid 7914] ×2 + 12.04sINFOparameter_manager_node-26process has finished cleanly [pid 7904] ×2 + 12.04sINFObt_navigatorCompleted Cleaning up + 12.04sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.04sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.05sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.05sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.05sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.05sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.05sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.05sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.05sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.06sINFOwaypoint_manager_node-27process has finished cleanly [pid 7905] ×2 + 12.06sINFOrelay-11process has finished cleanly [pid 7845] ×2 + 12.07sINFOrelay-10process has finished cleanly [pid 7844] ×2 + 12.08sINFOcomponent_container_mt-32process has finished cleanly [pid 7911] ×2 + 12.09sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7740] ×2 + 12.10sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 7846] ×2 + 12.11sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7739] ×2 + 12.11sINFOstatic_transform_publisher-7process has finished cleanly [pid 7738] ×2 + 12.12sINFOstatic_transform_publisher-6process has finished cleanly [pid 7737] ×2 + 12.13sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.13sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 12.13sINFOlidar_flattener.pymain() ×2 + 12.13sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 12.13sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.13sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.13sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.13sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.13sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.13sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.13sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.13sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.13sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.13sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.13sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.13sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.13sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.13sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.15sINFOstatic_transform_publisher-3process has finished cleanly [pid 7734] ×2 + 12.17sERRORlidar_flattener.py-5process has died [pid 7736, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_qphy24on']. ×2 + 12.20sINFOobjective_server_node[2026-10-08 23:36:48.960] [moveit_pro_license] [critical] ×2 + 12.20sINFOobjective_server_node************************************************* ×4 + 12.20sINFOobjective_server_node* MoveIt Pro License ×2 + 12.20sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.26sINFOobjective_server_node_main-30process has finished cleanly [pid 7909] ×2 + 12.26sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.28sERRORcomponent_container_isolated-1process has died [pid 7732, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_nqvmxfvv --params-file /tmp/launch_params_ec_cwtl3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.14sINFOodom_world_drift-4process has finished cleanly [pid 7735] ×2 + 13.14sINFOcomponent_container_mt-31process has finished cleanly [pid 7910] ×2 + 13.42sERRORcomponent_container_isolated-2process has died [pid 7733, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_nqvmxfvv --params-file /tmp/launch_params_iver6501 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.64sINFOweb_bridge-35process has finished cleanly [pid 7917] ×2 + 13.64sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 13.72sINFOros2_control_node-13process has finished cleanly [pid 7847] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 87 warnings · 169 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982509 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982509 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 0.54sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562144 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562144 ms (missed cycles : 4).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.681ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639999 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639999 ms (missed cycles : 3).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.724ms + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791502441.92900872 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791502441946943900, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.61) is out of map bounds (-3.75, 3.10) to (1.23, 8.08). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.88, 12.13) is out of map bounds (-3.75, 3.10) to (1.23, 8.08). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.61) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-2.88, 12.13) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839791 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839791 ms (missed cycles : 3).[0m ×2 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791502442.54527140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.433ms + 3.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.52sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568595, y=-0.0171806, yaw=-0.0184001 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.416ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777271 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777271 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317659 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317659 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983635 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983635 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177291 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177291 ms (missed cycles : 4).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326747 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326747 ms (missed cycles : 3).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.576ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221754 ms (missed cycles : 4). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221754 ms (missed cycles : 4).[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.513ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735614 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735614 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.284ms + 10.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 11.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.434ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387094 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387094 ms (missed cycles : 3).[0m ×2 + 11.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.714ms + 12.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.437ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570109 ms (missed cycles : 4). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570109 ms (missed cycles : 4).[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.752ms + 13.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.177ms + 13.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.55sINFOjoint_trajectory_controllerGot request to cancel goal + 13.55sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.55sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.56sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791502452.66015100 seconds ×3 + 13.59sINFOstate_estimatorReceived a set_pose request (stamp: 1791502452677217045, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262162 ms (missed cycles : 4). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262162 ms (missed cycles : 4).[0m ×2 + 13.70sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 13.70sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.74) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 13.80sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.80sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.185ms + 14.00sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.00sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.16sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791502453.26227474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOamclParticle filter update iteration stats: 4931 particles 811 points - 8.656ms + 14.39sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568174, y=-0.017182, yaw=-0.0184027 + 14.59sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796316 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796316 ms (missed cycles : 3).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.883ms + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097309 ms (missed cycles : 4). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097309 ms (missed cycles : 4).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429058 ms (missed cycles : 3). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429058 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	52 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.47sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791502350.47924471 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.54sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791502350503599332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791502351.08296514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.192ms + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.12sINFOamclInitializing particles from estimated pose and covariance + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.793ms + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.86sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.86sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162626 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162626 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798586 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798586 ms (missed cycles : 3).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537662 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537662 ms (missed cycles : 3).[0m ×2 + 8.91sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791502356.89310670 seconds ×3 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424457 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424457 ms (missed cycles : 3).[0m ×2 + 10.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.45sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691695 ms (missed cycles : 4). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691695 ms (missed cycles : 4).[0m ×2 + 10.51sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791502358.49263334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.90sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600005 ms (missed cycles : 4). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600005 ms (missed cycles : 4).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589151 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589151 ms (missed cycles : 3).[0m ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	59 warnings · 148 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.035ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853507 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853507 ms (missed cycles : 2).[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.333ms + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.545ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257429 ms (missed cycles : 5). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257429 ms (missed cycles : 5).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.383ms + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.602ms + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.310ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871250 ms (missed cycles : 3). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871250 ms (missed cycles : 3).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791502518.15246034 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOstate_estimatorReceived a set_pose request (stamp: 1791502518176883913, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.59) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.45) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119808 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119808 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791502518.74796891 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.659ms + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.89sINFOamclInitializing particles from estimated pose and covariance + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.89sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568233, y=-0.0171819, yaw=-0.0184025 + 4.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.445ms + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805176 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805176 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583973 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583973 ms (missed cycles : 4).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 7.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 7.70sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 9.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 10.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.13sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.61sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 12.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 12.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	41 warnings · 163 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196812 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196812 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099263 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099263 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944911 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944911 ms (missed cycles : 2).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862121 ms (missed cycles : 2). + 3.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862121 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791502286.89717245 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOstate_estimatorReceived a set_pose request (stamp: 1791502286913742382, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791502287.48944163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.878ms + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.90sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.01718, yaw=-0.0183994 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241353 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241353 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.876ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.8251e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786800 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786800 ms (missed cycles : 2).[0m ×2 + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.440ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.915ms + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.766ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094735 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094735 ms (missed cycles : 2).[0m ×2 + 7.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.457ms + 7.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.661ms + 8.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.527ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872651 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872651 ms (missed cycles : 2).[0m ×2 + 8.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.633ms + 9.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.889ms + 9.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791502293.06957722 seconds ×3 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204937 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204937 ms (missed cycles : 3).[0m ×2 + 9.47sINFOstate_estimatorReceived a set_pose request (stamp: 1791502293093315192, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.817ms + 9.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.98sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 10.03sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 9.428ms + 10.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791502293.66909456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381945 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381945 ms (missed cycles : 3).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033905 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033905 ms (missed cycles : 2).[0m ×2 + 11.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.209ms + 12.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175863 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175863 ms (missed cycles : 2).[0m ×2 + 12.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	21 warnings · 128 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.763ms + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306476 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306476 ms (missed cycles : 3).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.754ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382658 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382658 ms (missed cycles : 4).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.278ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877917 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877917 ms (missed cycles : 2).[0m ×2 + 2.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791502598.63788080 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOstate_estimatorReceived a set_pose request (stamp: 1791502598658539760, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502599.25980139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.874ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568341, y=-0.0171816, yaw=-0.0184021 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435065 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435065 ms (missed cycles : 3).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502599.83993244 seconds ×3 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.628ms + 4.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791502600.42098117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777623 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777623 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791502601.19111180 seconds ×3 + 5.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383832 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383832 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835038 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835038 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138894 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138894 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196812 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196812 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099263 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099263 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944911 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944911 ms (missed cycles : 2).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862121 ms (missed cycles : 2). + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862121 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791502286.89717245 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOstate_estimatorReceived a set_pose request (stamp: 1791502286913742382, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791502287.48944163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.878ms + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.90sINFOamclInitializing particles from estimated pose and covariance + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.01718, yaw=-0.0183994 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241353 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241353 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.876ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.8251e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786800 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786800 ms (missed cycles : 2).[0m ×2 + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.440ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.915ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196812 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196812 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099263 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099263 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944911 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944911 ms (missed cycles : 2).[0m ×2 + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862121 ms (missed cycles : 2). + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862121 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791502286.89717245 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOstate_estimatorReceived a set_pose request (stamp: 1791502286913742382, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791502287.48944163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.878ms + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.90sINFOamclInitializing particles from estimated pose and covariance + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.01718, yaw=-0.0183994 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241353 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241353 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.876ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.8251e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786800 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786800 ms (missed cycles : 2).[0m ×2 + 6.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.440ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.915ms
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	23 warnings · 85 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.915ms + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.766ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094735 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094735 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.457ms + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.661ms + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.527ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872651 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872651 ms (missed cycles : 2).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.633ms + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.889ms + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791502293.06957722 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204937 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204937 ms (missed cycles : 3).[0m ×2 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOstate_estimatorReceived a set_pose request (stamp: 1791502293093315192, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.817ms + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.68sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 9.428ms + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791502293.66909456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381945 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381945 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033905 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033905 ms (missed cycles : 2).[0m ×2 + 5.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.37sINFOamclInitializing particles from estimated pose and covariance + 5.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.37sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.209ms + 6.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175863 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175863 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791502350.47924471 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.54sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791502350503599332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791502351.08296514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.192ms + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.12sINFOamclInitializing particles from estimated pose and covariance + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.793ms + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791502350.47924471 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.54sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791502350503599332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791502351.08296514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.192ms + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.12sINFOamclInitializing particles from estimated pose and covariance + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.793ms + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791502350.47924471 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.54sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791502350503599332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791502351.08296514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.192ms + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.12sINFOamclInitializing particles from estimated pose and covariance + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.793ms + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791502350.47924471 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.54sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791502350503599332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791502351.08296514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.192ms + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.12sINFOamclInitializing particles from estimated pose and covariance + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.793ms + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791502350.47924471 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.54sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791502350503599332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791502351.08296514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.192ms + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.12sINFOamclInitializing particles from estimated pose and covariance + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.793ms + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791502350.47924471 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.54sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791502350503599332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791502351.08296514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.192ms + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.12sINFOamclInitializing particles from estimated pose and covariance + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.793ms + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773608 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910339 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.362ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192512 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791502350.47924471 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.54sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791502350503599332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.25, 3.95) to (0.73, 8.93). The costmap cannot raytrace for it. + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.05sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.05sINFOobjective_server_nodecaller: ×2 + 3.05sINFOobjective_server_nodetype: 0 ×2 + 3.05sINFOobjective_server_nodename: "" ×2 + 3.05sINFOobjective_server_nodeinstance_id: "" ×2 + 3.05sINFOobjective_server_node ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305282 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791502351.08296514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.192ms + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.12sINFOamclInitializing particles from estimated pose and covariance + 3.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.793ms + 3.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411401 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064412 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	41 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.383ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.242ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.464ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791502389.73277712 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1791502389755074497, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2).[0m ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791502390.32886314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.556ms + 3.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.99sINFOamclInitializing particles from estimated pose and covariance + 3.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.99sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567988, y=-0.0171825, yaw=-0.0184032 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.704ms + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	41 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.383ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.242ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.464ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791502389.73277712 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1791502389755074497, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2).[0m ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791502390.32886314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.556ms + 3.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.99sINFOamclInitializing particles from estimated pose and covariance + 3.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.99sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567988, y=-0.0171825, yaw=-0.0184032 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.704ms + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	41 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130535 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.383ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.242ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.292423 ms (missed cycles : 6).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.464ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192985 ms (missed cycles : 4).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791502389.73277712 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1791502389755074497, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.30, 3.15) to (0.68, 8.13). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338818 ms (missed cycles : 2).[0m ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791502390.32886314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.556ms + 3.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.99sINFOamclInitializing particles from estimated pose and covariance + 3.99sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.99sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567988, y=-0.0171825, yaw=-0.0184032 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.704ms + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675097 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879837 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal + 6.47sINFOjoint_trajectory_controllerAccepted new action goal + 6.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200033 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221361 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.85sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187118 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698406 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791502524.65810061 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054552 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791502525.26630187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594350 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.694105 ms (missed cycles : 6).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116579 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	16 warnings · 128 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.763ms + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306476 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306476 ms (missed cycles : 3).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.754ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382658 ms (missed cycles : 4). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382658 ms (missed cycles : 4).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.278ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877917 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877917 ms (missed cycles : 2).[0m ×2 + 2.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791502598.63788080 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOstate_estimatorReceived a set_pose request (stamp: 1791502598658539760, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791502599.25980139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.874ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568341, y=-0.0171816, yaw=-0.0184021 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435065 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435065 ms (missed cycles : 3).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791502599.83993244 seconds ×3 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.628ms + 4.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791502600.42098117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777623 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777623 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791502601.19111180 seconds ×3 + 5.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383832 ms (missed cycles : 3).
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.87sINFOobjective_server_nodecaller: ×10 + 1.87sINFOobjective_server_nodetype: 0 ×10 + 1.87sINFOobjective_server_nodename: "" ×10 + 1.87sINFOobjective_server_nodeinstance_id: "" ×10 + 1.87sINFOobjective_server_node ×10 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.92sINFOmove_groupClearing octomap...[0m ×4 + 1.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×4 + 1.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	addtovector.xml	0.0s	18 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 340 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064349 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797278 ms (missed cycles : 2).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.87sINFOobjective_server_nodecaller: ×10 + 1.87sINFOobjective_server_nodetype: 0 ×10 + 1.87sINFOobjective_server_nodename: "" ×10 + 1.87sINFOobjective_server_nodeinstance_id: "" ×10 + 1.87sINFOobjective_server_node ×10 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.92sINFOmove_groupClearing octomap...[0m ×4 + 1.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×4 + 1.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOjoint_trajectory_controllerReceived new action goal + 5.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.95sINFOjoint_trajectory_controllerAccepted new action goal + 5.95sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	21 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138894 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138894 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

9 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450826 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791502241.25291157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791502241.26312256 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842344 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791502241.85109377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791502241.86122656 seconds ×3 + 2.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791502242.45868659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791502242.60924697 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423800 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791502243.22951508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791502243.32965493 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645793 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791502243.91475439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761020 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983550 ms (missed cycles : 2).[0m ×2