MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

19.9s

Avg test time

100%

Objective pass rate

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2 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.0s	12 errors · 309 warnings · 1592 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/2026-10-09-19-14-46-805091-4263c91a4b14-7702 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 3.48sINFOstatic_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' + 3.48sINFOstatic_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' + 3.49sINFOstatic_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' + 3.53sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 3.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 3.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 3.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 3.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.57sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.61sINFOcontroller_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. + 3.61sINFOmap_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. + 3.61sINFOmap_serverCreating + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 3.61sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 3.63sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.63sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.65sINFOcontroller_serverCreating controller server + 3.70sINFOlocal_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. + 3.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 3.71sINFOlocal_costmap.local_costmapCreating Costmap + 3.71sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 3.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.71sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.72sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 3.73sINFOlifecycle_manager_localizationCreating + 3.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 3.74sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 3.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 3.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 3.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.75sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 3.75sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 3.75sINFOmap_serverConfiguring + 3.76sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 3.78sINFOsmoother_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. + 3.78sINFOcontroller_managerupdate rate is 600 Hz + 3.78sINFOcontroller_managerOverruns handling is : enabled + 3.78sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.78sWARNcontroller_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. + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001940 ms (missed cycles : 2). + 3.80sINFOros2_control_node-13process started with pid [7867] ×2 + 3.80sINFOmove_group-25process started with pid [7925] ×2 + 3.80sINFOparameter_manager_node-26process started with pid [7928] ×2 + 3.80sINFOwaypoint_manager_node-27process started with pid [7929] ×2 + 3.80sINFOmove_joint_resampler_node-28process started with pid [7930] ×2 + 3.80sINFOmove_end_effector_resampler_node-29process started with pid [7934] ×2 + 3.80sINFOobjective_server_node_main-30process started with pid [7941] ×2 + 3.80sINFOcomponent_container_mt-31process started with pid [7942] ×2 + 3.80sINFOcomponent_container_mt-32process started with pid [7944] ×2 + 3.80sINFOexecute_objective_bridge-33process started with pid [7955] ×2 + 3.80sINFOui_teleop_bridge-34process started with pid [7956] ×2 + 3.80sINFOweb_bridge-35process started with pid [7958] ×2 + 3.80sINFOtf_visualization_relay-36process started with pid [7963] ×2 + 3.80sINFOjoint_state_visualization_relay-37process started with pid [7964] ×2 + 3.80sINFOtf2_web_republisher_node-38process started with pid [7965] ×2 + 3.80sINFOvideo_server-39process started with pid [7966] ×2 + 3.80sINFOweb_bridge_auth_proxy-40process started with pid [7967] ×2 + 3.80sINFOweb_video_auth_proxy-41process started with pid [7990] ×2 + 3.81sINFOcomponent_container_isolated-1process started with pid [7752] ×2 + 3.81sINFOcomponent_container_isolated-2process started with pid [7753] ×2 + 3.81sINFOstatic_transform_publisher-3process started with pid [7754] ×2 + 3.81sINFOodom_world_drift-4process started with pid [7755] ×2 + 3.81sINFOlidar_flattener.py-5process started with pid [7756] ×2 + 3.81sINFOstatic_transform_publisher-6process started with pid [7757] ×2 + 3.81sINFOstatic_transform_publisher-7process started with pid [7758] ×2 + 3.81sINFOscan_to_scan_filter_chain-8process started with pid [7759] ×2 + 3.81sINFOscan_to_scan_filter_chain-9process started with pid [7760] ×2 + 3.81sINFOrelay-10process started with pid [7864] ×2 + 3.81sINFOrelay-11process started with pid [7865] ×2 + 3.81sINFOfixed_lag_smoother_node-12process started with pid [7866] ×2 + 3.81sINFOros2-14process started with pid [7868] ×2 + 3.81sINFOros2-15process started with pid [7869] ×2 + 3.81sINFOros2-16process started with pid [7870] ×2 + 3.81sINFOros2-17process started with pid [7871] ×2 + 3.81sINFOros2-18process started with pid [7872] ×2 + 3.81sINFOros2-19process started with pid [7873] ×2 + 3.81sINFOros2-20process started with pid [7874] ×2 + 3.81sINFOros2-21process started with pid [7875] ×2 + 3.81sINFOros2-22process started with pid [7876] ×2 + 3.81sINFOros2-23process started with pid [7877] ×2 + 3.81sINFOros2-24process started with pid [7878] ×2 + 3.83sINFOsmoother_serverCreating smoother server + 3.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573292097387478, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 3.86sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 3.86sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 3.86sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 3.86sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 3.86sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 3.86sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 3.86sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 3.86sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 3.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 3.87sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 3.87sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 3.87sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 3.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 3.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 3.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 3.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 3.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 3.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 3.87sWARNros2_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 + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001940 ms (missed cycles : 2).[0m ×2 + 3.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.88sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 3.88sINFOamclConfiguring + 3.88sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 3.88sINFOmap_serverActivating + 3.89sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 3.92sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 3.92sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 3.92sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 3.93sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 3.95sINFOplanner_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. + 3.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 3.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.00sINFOplanner_serverCreating + 4.00sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.00sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.00sINFOamclActivating + 4.00sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.00sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.04sINFOamclSubscribed to map_topic: /map + 4.04sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.04sINFOamclCreated reinitialize_global_localization service + 4.05sINFOamclCreated request_nomotion_update service + 4.05sINFOamclA new map was received + 4.05sINFOamclInitializing particle filter instance + 4.07sINFOglobal_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. + 4.08sINFOglobal_costmap.global_costmapCreating Costmap + 4.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.11sINFOrobot_state_publisherRobot initialized + 4.11sINFOcontroller_managerReceived robot description from topic. + 4.11sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.11sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.12sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.12sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.14sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.17sINFObehavior_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. + 4.18sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.21sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.21sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.21sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.22sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.23sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.23sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.27sINFOvideo_server2026/10/09 19:14:52 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.28sINFOvideo_server2026/10/09 19:14:52 INF configuration loaded from /tmp/moveit-webrtc-_3eo1hxu/mediamtx.yml ×2 + 4.28sINFOvideo_server2026/10/09 19:14:52 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.28sINFOvideo_server2026/10/09 19:14:52 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.29sINFObt_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. + 4.29sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.34sINFObt_navigatorCreating + 4.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.42sINFOwaypoint_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. + 4.43sINFOwaypoint_followerCreating + 4.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.50sWARNlaser_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. + 4.50sINFOvelocity_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. + 4.50sWARNscan_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 + 4.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.50sINFOamclParticle filter initialization completed + 4.50sINFOamclInitializing particles from estimated pose and covariance + 4.51sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 4.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.52sWARNlaser_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. + 4.57sINFOlifecycle_manager_navigationCreating + 4.61sINFOlifecycle_manager_localizationServer amcl connected with bond. + 4.61sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 4.61sINFOamclThe bond connection to the lifecycle manager is now fully formed + 4.61sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 4.61sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 4.64sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 4.64sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 4.64sINFOcontroller_serverConfiguring controller interface + 4.64sINFOcontroller_servergetting progress checker plugins.. + 4.64sINFOcontroller_servergetting goal checker plugins.. + 4.64sINFOcontroller_serverController frequency set to 20.0000Hz + 4.64sINFOlocal_costmap.local_costmapConfiguring + 4.67sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 4.69sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 4.75sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 4.75sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 4.75sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 4.79sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.990391 ms (missed cycles : 6). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.990391 ms (missed cycles : 6).[0m ×2 + 4.82sINFOcontroller_serverController Server has progress_checker progress checkers available. + 4.82sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 4.83sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.393722 seconds + 4.83sINFOmove_groupLoaded robot model in 0.393722 seconds[0m ×2 + 4.83sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 4.83sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 4.83sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 4.83sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 4.83sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 4.85sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 4.87sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 4.90sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 4.90sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 4.91sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 4.91sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 4.91sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 4.91sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 4.91sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 4.91sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 4.92sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 4.92sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 4.93sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 4.93sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 4.93sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 4.94sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 4.94sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 4.95sINFOcontroller_serverOptimizer reset ×2 + 4.98sINFOcontroller_serverController Server has FollowPath controllers available. + 4.98sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.98sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.00sINFOweb_bridge_auth_proxy2026-10-09 19:14:53,252 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 5.01sINFOweb_bridge_auth_proxy2026-10-09 19:14:53,265 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 5.01sINFOweb_video_auth_proxy2026-10-09 19:14:53,269 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 5.01sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.01sINFOsmoother_serverConfiguring smoother server + 5.03sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.04sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.05sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.05sINFOplanner_serverConfiguring + 5.05sINFOglobal_costmap.global_costmapConfiguring + 5.06sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.07sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.07sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.07sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.10sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.13sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.13sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.14sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.16sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.17sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.17sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.17sINFOplanner_serverPlanner Server has GridBased planners available. + 5.19sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.19sINFObehavior_serverConfiguring + 5.20sINFOwaypoint_manager_nodeLoaded robot model in 0.39885 seconds[0m ×2 + 5.20sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 5.20sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.20sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.21sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.21sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.21sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.22sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.22sINFObehavior_serverConfiguring spin + 5.24sINFObehavior_serverConfiguring backup + 5.25sINFObehavior_serverConfiguring drive_on_heading + 5.25sINFObehavior_serverConfiguring assisted_teleop + 5.26sINFObehavior_serverConfiguring wait + 5.27sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.27sINFObt_navigatorConfiguring + 5.28sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.29sWARNbt_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 + 5.29sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.29sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.29sWARNmove_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. + 5.29sWARNmove_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 + 5.29sWARNmove_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. + 5.29sWARNmove_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 + 5.30sWARNmove_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. + 5.30sWARNmove_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. + 5.30sWARNmove_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 + 5.30sWARNmove_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 + 5.30sWARNmove_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. + 5.30sWARNmove_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. + 5.30sWARNmove_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 + 5.30sWARNmove_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 + 5.30sWARNmove_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. + 5.30sWARNmove_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. + 5.30sWARNmove_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 + 5.30sWARNmove_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 + 5.30sWARNmove_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. + 5.30sWARNmove_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 + 5.30sWARNmove_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. + 5.30sWARNmove_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 + 5.43sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 5.47sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 5.47sINFOwaypoint_followerConfiguring + 5.48sWARNwaypoint_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. + 5.48sWARNwaypoint_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. + 5.48sWARNwaypoint_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. + 5.48sWARNwaypoint_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 + 5.48sWARNwaypoint_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. + 5.48sWARNwaypoint_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 + 5.48sWARNwaypoint_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 + 5.48sWARNwaypoint_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. + 5.48sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 5.48sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 5.49sWARNwaypoint_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 + 5.49sWARNwaypoint_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. + 5.49sWARNwaypoint_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 + 5.49sWARNwaypoint_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 + 5.49sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 5.49sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 5.49sWARNwaypoint_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. + 5.49sWARNwaypoint_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 + 5.49sWARNwaypoint_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. + 5.49sWARNwaypoint_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 + 5.49sWARNwaypoint_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. + 5.49sWARNwaypoint_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. + 5.49sWARNwaypoint_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 + 5.49sWARNwaypoint_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 + 5.49sWARNwaypoint_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. + 5.49sWARNwaypoint_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. + 5.49sWARNwaypoint_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 + 5.49sWARNwaypoint_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 + 5.49sWARNwaypoint_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. + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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. + 5.50sWARNwaypoint_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 + 5.50sWARNwaypoint_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 + 5.51sWARNwaypoint_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. + 5.51sWARNwaypoint_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. + 5.51sWARNwaypoint_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 + 5.51sWARNwaypoint_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 + 5.51sWARNwaypoint_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. + 5.51sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 5.51sWARNwaypoint_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 + 5.51sWARNwaypoint_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. + 5.51sWARNwaypoint_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 + 5.51sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 5.51sINFOvelocity_smootherConfiguring velocity smoother + 5.52sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 5.53sINFOcontroller_serverActivating + 5.53sINFOlocal_costmap.local_costmapActivating + 5.53sINFOlocal_costmap.local_costmapChecking transform + 5.53sINFOlocal_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 ×9 + 5.53sINFOros2_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 + 5.53sINFOros2_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 + 5.59sINFOmove_group[2026-10-09 19:14:53.841] [moveit_pro_license] [info] ×2 + 5.59sINFOmove_group************************************************* ×4 + 5.59sINFOmove_group* MoveIt Pro License ×2 + 5.59sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.82sINFOwaypoint_manager_node[2026-10-09 19:14:54.078] [moveit_pro_license] [info] ×2 + 5.82sINFOwaypoint_manager_node************************************************* ×4 + 5.82sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 5.82sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.90sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 5.90sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 5.90sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 5.90sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 5.90sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 5.90sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 5.90sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 5.91sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 5.91sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 5.91sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 5.91sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 5.91sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 5.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 5.91sINFOmove_groupStarting planning scene monitor[0m ×2 + 5.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 5.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 5.91sINFOmove_groupListening to '/planning_scene'[0m ×2 + 5.91sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 5.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 5.91sINFOmove_groupListening to 'collision_object'[0m ×2 + 5.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 5.91sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.14sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 6.14sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 6.14sINFOros2_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 + 6.14sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 6.14sWARNros2_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 + 6.14sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 6.14sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 6.14sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 6.14sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 6.14sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 6.14sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 6.14sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 6.14sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 6.14sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 6.14sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 6.14sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 6.14sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 6.14sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 6.14sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 6.14sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 6.14sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 6.14sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 6.14sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 6.14sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 6.14sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 6.14sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 6.14sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 6.14sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 6.14sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 6.14sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 6.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 6.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 6.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 6.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 6.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 6.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 6.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776896 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776896 ms (missed cycles : 2).[0m ×2 + 6.16sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 6.17sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.18sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 6.22sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 6.22sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 6.24sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.24sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.24sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 6.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 6.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.31sINFOcontroller_managerSuccessfully switched controllers! ×22 + 6.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 6.31sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.31sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 6.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 6.33sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 6.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 6.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 6.35sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 6.35sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 6.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 6.35sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 6.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 6.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 6.36sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 6.36sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 6.36sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 6.36sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 6.36sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 6.36sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 6.37sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 6.37sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 6.37sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 6.37sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 6.37sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 6.37sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 6.38sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 6.38sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 6.38sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 6.38sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 6.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 6.39sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 6.39sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 6.39sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 6.39sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 6.39sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 6.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 6.39sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 6.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 6.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 6.39sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 6.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 6.40sINFOros2_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 + 6.40sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.40sWARNros2_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 + 6.53sINFOobjective_server_node[2026-10-09 19:14:54.786] [moveit_pro_license] [info] ×2 + 6.53sINFOobjective_server_node************************************************* ×4 + 6.53sINFOobjective_server_node* MoveIt Pro License ×2 + 6.53sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 6.54sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 6.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 6.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 6.57sWARNcomponent_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 + 6.59sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 6.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 6.59sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 6.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 6.62sINFOstreaming_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) + 6.62sINFOcomponent_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 + 6.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 6.63sINFOobjective_server_nodeLoaded robot model in 0.0378338 seconds[0m ×2 + 6.63sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 6.63sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 6.63sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 6.67sINFOros2-16process has finished cleanly [pid 7870] ×2 + 6.70sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.70sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 6.70sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.70sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 6.80sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 6.80sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 6.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 6.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 6.82sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 6.82sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 6.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 6.87sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 6.87sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 6.88sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 6.88sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 6.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 6.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 6.92sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.92sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.92sWARNobjective_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. + 6.92sWARNobjective_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 + 6.92sWARNobjective_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. + 6.92sWARNobjective_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 + 6.92sWARNobjective_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. + 6.92sWARNobjective_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 + 6.92sWARNobjective_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. + 6.92sWARNobjective_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 + 6.92sWARNobjective_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. + 6.92sWARNobjective_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 + 6.92sWARNobjective_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. + 6.92sWARNobjective_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. + 6.92sWARNobjective_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. + 6.92sWARNobjective_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 + 6.92sWARNobjective_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 + 6.93sWARNobjective_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 + 6.93sWARNobjective_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. + 6.93sWARNobjective_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 + 6.93sWARNobjective_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. + 6.93sWARNobjective_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 + 6.96sINFOcomponent_container_mtLoaded robot model in 0.396449 seconds[0m ×2 + 6.96sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 6.96sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.01sINFOobjective_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 + 7.01sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 7.03sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 7.03sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 7.03sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 7.03sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 7.03sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 7.03sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 7.03sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 7.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.18sINFOros2_control_node[2026-10-09 19:14:55.435] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 7.18sINFOros2_control_node[2026-10-09 19:14:55.438] [info] Controller state will be published at 10 Hz. ×2 + 7.18sINFOros2_control_node[2026-10-09 19:14:55.440] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.25sWARNplanning_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. + 7.25sWARNplanning_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. + 7.25sWARNcomponent_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 + 7.25sWARNcomponent_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 + 7.25sWARNplanning_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. + 7.25sWARNcomponent_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 + 7.25sWARNplanning_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. + 7.25sWARNcomponent_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 + 7.25sWARNplanning_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. + 7.25sWARNcomponent_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 + 7.25sWARNplanning_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. + 7.25sWARNcomponent_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 + 7.25sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.26sWARNplanning_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. + 7.26sWARNcomponent_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 + 7.27sWARNplanning_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. + 7.27sWARNcomponent_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 + 7.27sWARNplanning_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. + 7.27sWARNcomponent_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 + 7.27sWARNplanning_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. + 7.27sWARNcomponent_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 + 7.27sWARNplanning_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. + 7.27sWARNplanning_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. + 7.27sWARNcomponent_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 + 7.27sWARNcomponent_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 + 7.27sWARNplanning_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. + 7.27sWARNplanning_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. + 7.27sWARNcomponent_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 + 7.27sWARNcomponent_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 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323773 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323773 ms (missed cycles : 2).[0m ×2 + 7.36sINFOmove_groupMoveGroup debug mode is ON + 7.37sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 7.37sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 7.40sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 7.41sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 7.41sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 7.41sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 7.41sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 7.41sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 7.41sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 7.42sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 7.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 7.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 7.51sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.51sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.51sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 7.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 7.52sINFOmove_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 ****************************************************** + 7.52sINFOmove_group ×8 + 7.52sINFOmove_group****************************************************** ×4 + 7.52sINFOmove_group* MoveGroup using: ×2 + 7.52sINFOmove_group* - apply_planning_scene_service ×2 + 7.52sINFOmove_group* - clear_octomap_service ×2 + 7.52sINFOmove_group* - get_group_urdf ×2 + 7.52sINFOmove_group* - load_geometry_from_file ×2 + 7.52sINFOmove_group* - get_planning_scene_service ×2 + 7.52sINFOmove_group* - kinematics_service ×2 + 7.52sINFOmove_group* - save_geometry_to_file ×2 + 7.52sINFOmove_group* - GetPlanningGroups ×2 + 7.52sINFOmove_group* - URDFPlanningSceneCapability ×2 + 7.52sINFOmove_group[0m ×2 + 7.52sINFOmove_group[92mYou can start planning now![0m ×2 + 7.56sINFOros2-22process has finished cleanly [pid 7876] ×2 + 7.59sINFOcomponent_container_mt[2026-10-09 19:14:55.847] [moveit_pro_license] [info] ×2 + 7.59sINFOcomponent_container_mt************************************************* ×4 + 7.59sINFOcomponent_container_mt* MoveIt Pro License ×2 + 7.59sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.63sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.63sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.63sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 7.63sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.63sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 7.63sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 7.63sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.63sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 7.63sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.63sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 7.63sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.64sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.64sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.80sWARNros2_control_nodeCamera render tick took 0.69 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 + 7.83sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 7.83sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 7.83sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 7.83sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 7.85sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 7.85sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 7.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 7.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 7.89sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.89sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.89sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.90sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.90sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 7.90sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 7.93sINFOros2-20process has finished cleanly [pid 7874] ×2 + 7.95sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.95sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 8.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 8.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 8.22sINFOros2_control_node[2026-10-09 19:14:56.475] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.22sINFOros2_control_node[2026-10-09 19:14:56.476] [info] Controller state will be published at 10 Hz. ×2 + 8.22sINFOros2_control_node[2026-10-09 19:14:56.477] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776134 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776134 ms (missed cycles : 2).[0m ×2 + 8.53sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.53sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.53sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.53sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.55sINFOros2-21process has finished cleanly [pid 7875] ×2 + 8.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 8.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 8.64sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.64sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.64sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.64sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.83sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791573295.375 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 8.89sINFOros2_control_node[2026-10-09 19:14:57.142] [info] Controller state will be published at 20 Hz. ×2 + 8.89sINFOros2_control_node[2026-10-09 19:14:57.143] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.20sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.20sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.20sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.20sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.20sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 9.21sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 9.21sINFOros2-23process has finished cleanly [pid 7877] ×2 + 9.25sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.25sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.25sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.26sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675189 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675189 ms (missed cycles : 2).[0m ×2 + 9.50sINFOros2_control_node[2026-10-09 19:14:57.760] [info] Controller state will be published at 20 Hz. ×2 + 9.51sINFOros2_control_node[2026-10-09 19:14:57.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.82sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.82sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.82sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.82sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.82sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 9.82sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 9.84sINFOros2-24process has finished cleanly [pid 7878] ×2 + 9.87sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.87sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.87sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.87sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.87sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.87sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.88sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.88sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.03sINFOlocal_costmap.local_costmapstart + 10.13sWARNcontroller_serverParameter controller_server.verbose not found + 10.13sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.22sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.22sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.22sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.22sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.23sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 10.23sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 10.24sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.24sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.24sINFOsmoother_serverActivating + 10.24sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.26sINFOros2-15process has finished cleanly [pid 7869] ×2 + 10.29sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.29sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.29sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.29sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.30sINFOplatform_velocity_controllerconfigure successful + 10.30sINFOros2_control_nodeconfigure successful[0m ×6 + 10.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.30sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.31sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.31sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.34sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.34sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.34sINFOplanner_serverActivating + 10.35sINFOglobal_costmap.global_costmapActivating + 10.35sINFOglobal_costmap.global_costmapChecking transform + 10.35sINFOglobal_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. + 10.43sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791573298.118 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.44sINFOamclParticle filter update iteration stats: 1788 particles 811 points - 15.930ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217990 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217990 ms (missed cycles : 2).[0m ×2 + 10.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 10.61sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 10.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.63sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.64sINFOros2-17process has finished cleanly [pid 7871] ×2 + 10.66sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.66sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.66sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.66sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.66sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.66sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.67sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.67sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.68sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.85sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1791573299.063018 but the earliest data is at time 1791573299.396350, when looking up transform from frame [ridgeback_base_link] to frame [map] + 10.97sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.97sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 10.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.97sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 10.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 10.97sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 11.02sINFOros2-18process has finished cleanly [pid 7872] ×2 + 11.05sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.05sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.06sINFOplatform_velocity_controller_nav2configure successful + 11.35sINFOglobal_costmap.global_costmapstart + 11.39sINFOros2-19process has finished cleanly [pid 7873] ×2 + 11.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o + 11.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_xj8fdrf4 --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_h3v5h9ew --params-file /tmp/launch_params_sz0aae4o [0m ×2 + 11.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.47sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.47sINFOforce_torque_sensor_broadcasterconfigure successful + 11.48sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.48sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.48sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217243 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217243 ms (missed cycles : 2).[0m ×2 + 11.78sINFOros2-14process has finished cleanly [pid 7868] ×2 + 11.86sWARNobjective_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 + 12.40sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.40sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 12.50sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.50sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.50sINFObehavior_serverActivating + 12.50sINFObehavior_serverActivating spin + 12.50sINFObehavior_serverActivating backup + 12.50sINFObehavior_serverActivating drive_on_heading + 12.50sINFObehavior_serverActivating assisted_teleop + 12.50sINFObehavior_serverActivating wait + 12.50sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349754 ms (missed cycles : 3). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349754 ms (missed cycles : 3).[0m ×2 + 12.61sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 12.61sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 12.61sINFObt_navigatorActivating + 12.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 12.68sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 12.78sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 12.78sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 12.78sINFOwaypoint_followerActivating + 12.78sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 12.88sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 12.89sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 12.89sINFOvelocity_smootherActivating + 12.89sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 12.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 12.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 12.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 12.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 12.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 12.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 12.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 12.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 12.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 12.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 12.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 12.99sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.99sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.99sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857989 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857989 ms (missed cycles : 2).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239358 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239358 ms (missed cycles : 2).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 16.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 18.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.59sINFOobjective_server_nodecaller: ×10 + 18.59sINFOobjective_server_nodetype: 0 ×10 + 18.59sINFOobjective_server_nodename: "" ×10 + 18.59sINFOobjective_server_nodeinstance_id: "" ×10 + 18.59sINFOobjective_server_node ×10 + 18.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 18.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 18.62sINFOmove_groupClearing octomap...[0m ×4 + 18.62sINFOmove_groupOctomap cleared.[0m ×4 + 18.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 18.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 18.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 19.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 19.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 20.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 20.52sINFOobjective_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 + 20.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 21.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 3.239358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239358 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 1.28sINFOros2_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 3.209112 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.60sINFOros2_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 1.755900 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.66sINFOobjective_server_nodecaller: ×10 + 3.66sINFOobjective_server_nodetype: 0 ×10 + 3.66sINFOobjective_server_nodename: "" ×10 + 3.66sINFOobjective_server_nodeinstance_id: "" ×10 + 3.66sINFOobjective_server_node ×10 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.69sINFOmove_groupClearing octomap...[0m ×4 + 3.69sINFOmove_groupOctomap cleared.[0m ×4 + 3.69sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.69sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 5.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[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	62.9s	3 errors · 212 warnings · 281 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.618ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527391 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527391 ms (missed cycles : 2).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.032ms + 1.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.762ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959094 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959094 ms (missed cycles : 2).[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.184ms + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.897ms + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036284 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036284 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_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 + 2.61sINFOjoint_trajectory_controllerGot request to cancel goal + 2.61sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.61sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.61sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.62sERRORobjective_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: 1791573511.79470420 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.64sINFOstate_estimatorReceived a set_pose request (stamp: 1791573511810860267, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-0.68, 3.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 3.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.076ms + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-0.73, 3.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-1.63, 3.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.516ms + 3.09sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.09sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.09sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.09sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569632, y=-0.0171782, yaw=-0.0183983 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.16sINFOobjective_server_nodecaller: ×4 + 3.16sINFOobjective_server_nodetype: 0 ×4 + 3.16sINFOobjective_server_nodename: "" ×4 + 3.16sINFOobjective_server_nodeinstance_id: "" ×4 + 3.16sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791573512.37485290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.828ms + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281508 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281508 ms (missed cycles : 2).[0m ×2 + 4.81sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.81sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.81sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810932 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810932 ms (missed cycles : 2).[0m ×2 + 6.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.592ms + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072784 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072784 ms (missed cycles : 2).[0m ×2 + 7.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.972ms + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330811 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330811 ms (missed cycles : 2).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.711ms + 8.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.087ms + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170139 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170139 ms (missed cycles : 2).[0m ×2 + 9.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.893ms + 9.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.960ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715154 ms (missed cycles : 2). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715154 ms (missed cycles : 2).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.805ms + 10.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.967ms + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151446 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151446 ms (missed cycles : 2).[0m ×2 + 11.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.981ms + 12.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.924ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081611 ms (missed cycles : 3). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081611 ms (missed cycles : 3).[0m ×2 + 12.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.949ms + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.488ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312777 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312777 ms (missed cycles : 2).[0m ×2 + 13.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.164ms + 14.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.676ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434441 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434441 ms (missed cycles : 2).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.091ms + 15.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.979ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314077 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314077 ms (missed cycles : 2).[0m ×2 + 16.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.105ms + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.097ms + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225188 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225188 ms (missed cycles : 2).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.831ms + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.763ms + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541363 ms (missed cycles : 2). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541363 ms (missed cycles : 2).[0m ×2 + 18.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.284ms + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716819 ms (missed cycles : 3). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716819 ms (missed cycles : 3).[0m ×2 + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.737ms + 19.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.029ms + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886881 ms (missed cycles : 2). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886881 ms (missed cycles : 2).[0m ×2 + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.094ms + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.085ms + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000527 ms (missed cycles : 2). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000527 ms (missed cycles : 2).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.099ms + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.509ms + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727273 ms (missed cycles : 2). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727273 ms (missed cycles : 2).[0m ×2 + 22.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.345ms + 23.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.420ms + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119255 ms (missed cycles : 2). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119255 ms (missed cycles : 2).[0m ×2 + 23.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.460ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.732ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580541 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580541 ms (missed cycles : 2).[0m ×2 + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.438ms + 25.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.725ms + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878217 ms (missed cycles : 2). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878217 ms (missed cycles : 2).[0m ×2 + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.993ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.761ms + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654972 ms (missed cycles : 2). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654972 ms (missed cycles : 2).[0m ×2 + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.950ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146918 ms (missed cycles : 2). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146918 ms (missed cycles : 2).[0m ×2 + 27.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.886ms + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.961ms + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902180 ms (missed cycles : 2). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902180 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.080ms + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.988ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174352 ms (missed cycles : 2). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174352 ms (missed cycles : 2).[0m ×2 + 30.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.900ms + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.294ms + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857639 ms (missed cycles : 2). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857639 ms (missed cycles : 2).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.181ms + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790068 ms (missed cycles : 3). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790068 ms (missed cycles : 3).[0m ×2 + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.462ms + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716544 ms (missed cycles : 3). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716544 ms (missed cycles : 3).[0m ×2 + 33.19sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.19sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.35sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669184 ms (missed cycles : 2). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669184 ms (missed cycles : 2).[0m ×2 + 34.16sINFOobjective_server_nodePlanning for 14 path waypoints. ×6 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910977 ms (missed cycles : 2). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910977 ms (missed cycles : 2).[0m ×2 + 35.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963421 ms (missed cycles : 2). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963421 ms (missed cycles : 2).[0m ×2 + 36.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.634ms + 37.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.884ms + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520848 ms (missed cycles : 3). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520848 ms (missed cycles : 3).[0m ×2 + 37.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.310ms + 38.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.416ms + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951150 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951150 ms (missed cycles : 2).[0m ×2 + 38.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.213ms + 39.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667428 ms (missed cycles : 2). + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667428 ms (missed cycles : 2).[0m ×2 + 40.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.944ms + 40.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687040 ms (missed cycles : 3). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687040 ms (missed cycles : 3).[0m ×2 + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432038 ms (missed cycles : 2). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432038 ms (missed cycles : 2).[0m ×2 + 41.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.221ms + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881427 ms (missed cycles : 2). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881427 ms (missed cycles : 2).[0m ×2 + 43.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.229ms + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295734 ms (missed cycles : 2). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295734 ms (missed cycles : 2).[0m ×2 + 44.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.003ms + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982838 ms (missed cycles : 2). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982838 ms (missed cycles : 2).[0m ×2 + 44.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.067ms + 45.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.702ms + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426939 ms (missed cycles : 3). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426939 ms (missed cycles : 3).[0m ×2 + 45.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.359ms + 46.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.212ms + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844155 ms (missed cycles : 2). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844155 ms (missed cycles : 2).[0m ×2 + 46.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.176ms + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519632 ms (missed cycles : 3). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519632 ms (missed cycles : 3).[0m ×2 + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527908 ms (missed cycles : 2). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527908 ms (missed cycles : 2).[0m ×2 + 49.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.761ms + 49.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239154 ms (missed cycles : 2). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239154 ms (missed cycles : 2).[0m ×2 + 50.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893284 ms (missed cycles : 2). + 50.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893284 ms (missed cycles : 2).[0m ×2 + 51.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.664ms + 51.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347907 ms (missed cycles : 2). + 51.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347907 ms (missed cycles : 2).[0m ×2 + 52.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.319ms + 52.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.000ms + 52.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.013ms ×2 + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377134 ms (missed cycles : 2). + 52.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377134 ms (missed cycles : 2).[0m ×2 + 53.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.904ms + 53.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.065ms + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815200 ms (missed cycles : 2). + 54.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815200 ms (missed cycles : 2).[0m ×2 + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628638 ms (missed cycles : 3). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628638 ms (missed cycles : 3).[0m ×2 + 55.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.110ms + 56.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183696 ms (missed cycles : 2). + 56.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183696 ms (missed cycles : 2).[0m ×2 + 56.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.651ms + 56.72sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 57.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855833 ms (missed cycles : 3). + 57.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855833 ms (missed cycles : 3).[0m ×2 + 58.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333742 ms (missed cycles : 3). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333742 ms (missed cycles : 3).[0m ×2 + 59.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339883 ms (missed cycles : 2). + 59.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339883 ms (missed cycles : 2).[0m ×2 + 60.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.931ms + 60.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316844 ms (missed cycles : 2). + 60.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316844 ms (missed cycles : 2).[0m ×2 + 61.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045053 ms (missed cycles : 2). + 61.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045053 ms (missed cycles : 2).[0m ×2 + 62.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.954ms + 62.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793004 ms (missed cycles : 2). + 62.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793004 ms (missed cycles : 2).[0m ×2 + 62.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.012ms + 63.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.667ms + 63.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.140ms + 63.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246554 ms (missed cycles : 3). + 63.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246554 ms (missed cycles : 3).[0m ×2 + 63.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.836ms + 64.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451694 ms (missed cycles : 2). + 64.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451694 ms (missed cycles : 2).[0m ×2 + 64.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.159ms + 65.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791573574.70504570 seconds ×3 + 65.55sINFOstate_estimatorReceived a set_pose request (stamp: 1791573574720877690, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 65.56sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 65.56sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 65.71sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 65.71sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 65.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618386 ms (missed cycles : 3). + 65.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618386 ms (missed cycles : 3).[0m ×2 + 65.81sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 65.81sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 66.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.495ms + 66.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 66.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 66.07sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 66.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791573575.27749038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 66.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.404ms + 66.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394343 ms (missed cycles : 2). + 66.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394343 ms (missed cycles : 2).[0m ×2 + 67.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023965 ms (missed cycles : 2). + 67.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023965 ms (missed cycles : 2).[0m ×2 + 68.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 68.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.1s	186 warnings · 217 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.88sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.07sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.07sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2 + 6.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.011ms + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375389 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375389 ms (missed cycles : 3).[0m ×2 + 7.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.164ms + 8.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.375ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039007 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039007 ms (missed cycles : 2).[0m ×2 + 8.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.028ms + 9.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.804ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649938 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649938 ms (missed cycles : 3).[0m ×2 + 9.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.036ms + 10.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.266ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901816 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901816 ms (missed cycles : 2).[0m ×2 + 11.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.269ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702446 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702446 ms (missed cycles : 2).[0m ×2 + 11.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.866ms + 12.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.367ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032681 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032681 ms (missed cycles : 3).[0m ×2 + 12.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.591ms + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.012ms + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542529 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542529 ms (missed cycles : 2).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.886ms + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.971ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680744 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680744 ms (missed cycles : 3).[0m ×2 + 15.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.440ms + 15.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.664ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852606 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852606 ms (missed cycles : 2).[0m ×2 + 16.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.391ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972389 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972389 ms (missed cycles : 2).[0m ×2 + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.053ms + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.138ms + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014406 ms (missed cycles : 2). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014406 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.925ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.557ms + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613472 ms (missed cycles : 2). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613472 ms (missed cycles : 2).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.952ms + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.172ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495610 ms (missed cycles : 3). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495610 ms (missed cycles : 3).[0m ×2 + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.931ms + 21.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.192ms + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005696 ms (missed cycles : 3). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005696 ms (missed cycles : 3).[0m ×2 + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.079ms + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934083 ms (missed cycles : 3). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934083 ms (missed cycles : 3).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.197ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.817ms + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887552 ms (missed cycles : 2). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887552 ms (missed cycles : 2).[0m ×2 + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.438ms + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.504ms + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248597 ms (missed cycles : 3). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248597 ms (missed cycles : 3).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.658ms + 25.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.475ms + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180701 ms (missed cycles : 2). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180701 ms (missed cycles : 2).[0m ×2 + 25.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.999ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 26.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179536 ms (missed cycles : 2). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179536 ms (missed cycles : 2).[0m ×2 + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.758ms + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.757ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344740 ms (missed cycles : 3). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344740 ms (missed cycles : 3).[0m ×2 + 27.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.943ms + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357289 ms (missed cycles : 3). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357289 ms (missed cycles : 3).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.821ms + 29.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.920ms + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847954 ms (missed cycles : 2). + 29.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847954 ms (missed cycles : 2).[0m ×2 + 29.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.091ms + 30.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.044ms + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473230 ms (missed cycles : 3). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473230 ms (missed cycles : 3).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.310ms + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416978 ms (missed cycles : 3). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416978 ms (missed cycles : 3).[0m ×2 + 31.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.280ms + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650942 ms (missed cycles : 2). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650942 ms (missed cycles : 2).[0m ×2 + 32.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.060ms + 33.48sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662537 ms (missed cycles : 3). + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662537 ms (missed cycles : 3).[0m ×2 + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938970 ms (missed cycles : 2). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938970 ms (missed cycles : 2).[0m ×2 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475983 ms (missed cycles : 3). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475983 ms (missed cycles : 3).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471788 ms (missed cycles : 2). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471788 ms (missed cycles : 2).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918213 ms (missed cycles : 2). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918213 ms (missed cycles : 2).[0m ×2 + 38.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556357 ms (missed cycles : 3). + 38.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556357 ms (missed cycles : 3).[0m ×2 + 39.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.642ms + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115725 ms (missed cycles : 2). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115725 ms (missed cycles : 2).[0m ×2 + 40.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.503ms + 41.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705312 ms (missed cycles : 2). + 41.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705312 ms (missed cycles : 2).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547931 ms (missed cycles : 3). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547931 ms (missed cycles : 3).[0m ×2 + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050541 ms (missed cycles : 2). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050541 ms (missed cycles : 2).[0m ×2 + 43.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.688ms + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510353 ms (missed cycles : 2). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510353 ms (missed cycles : 2).[0m ×2 + 44.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.902ms + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760847 ms (missed cycles : 3). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760847 ms (missed cycles : 3).[0m ×2 + 46.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.027ms + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221912 ms (missed cycles : 2). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221912 ms (missed cycles : 2).[0m ×2 + 46.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.060ms + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019292 ms (missed cycles : 2). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019292 ms (missed cycles : 2).[0m ×2 + 48.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375645 ms (missed cycles : 3). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375645 ms (missed cycles : 3).[0m ×2 + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146921 ms (missed cycles : 3). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146921 ms (missed cycles : 3).[0m ×2 + 50.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.147ms + 50.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917074 ms (missed cycles : 3). + 50.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917074 ms (missed cycles : 3).[0m ×2 + 50.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.046ms + 51.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262005 ms (missed cycles : 2). + 51.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262005 ms (missed cycles : 2).[0m ×2 + 52.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299470 ms (missed cycles : 2). + 52.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299470 ms (missed cycles : 2).[0m ×2 + 53.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.069ms + 53.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790663 ms (missed cycles : 2). + 53.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790663 ms (missed cycles : 2).[0m ×2 + 54.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009877 ms (missed cycles : 2). + 54.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009877 ms (missed cycles : 2).[0m ×2 + 54.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 56.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087228 ms (missed cycles : 2). + 56.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087228 ms (missed cycles : 2).[0m ×2 + 57.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305296 ms (missed cycles : 2). + 57.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305296 ms (missed cycles : 2).[0m ×2 + 57.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.363ms + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255157 ms (missed cycles : 2). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255157 ms (missed cycles : 2).[0m ×2 + 58.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.022ms + 59.04sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791573637.17359209 seconds ×3 + 59.07sINFOstate_estimatorReceived a set_pose request (stamp: 1791573637188431122, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358943 ms (missed cycles : 3). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358943 ms (missed cycles : 3).[0m ×2 + 59.25sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.25sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.35sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.35sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.132ms + 59.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 59.54sINFOamclInitializing particles from estimated pose and covariance + 59.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 59.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 59.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.57sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 59.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791573637.74983811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.128ms + 59.89sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 60.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697732 ms (missed cycles : 2). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697732 ms (missed cycles : 2).[0m ×2 + 61.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682779 ms (missed cycles : 3). + 61.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682779 ms (missed cycles : 3).[0m ×2 + 62.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381241 ms (missed cycles : 3). + 62.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381241 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.1s	183 warnings · 239 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.000ms + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.055ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.204ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.934ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.810ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.644ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.378ms + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.370ms + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441323 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441323 ms (missed cycles : 3).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.415ms + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.344ms + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457761 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457761 ms (missed cycles : 2).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791573358.18228483 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOstate_estimatorReceived a set_pose request (stamp: 1791573358195974790, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.498ms + 3.38sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 4.949ms + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791573358.75842667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986082 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986082 ms (missed cycles : 2).[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.17sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 5.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.22sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.22sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.22sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.22sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.310ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203026 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203026 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862977 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862977 ms (missed cycles : 2).[0m ×2 + 7.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.598ms + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558261 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558261 ms (missed cycles : 2).[0m ×2 + 7.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.867ms + 8.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.131ms + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698014 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698014 ms (missed cycles : 3).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.800ms + 9.32sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.338ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294260 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294260 ms (missed cycles : 2).[0m ×2 + 10.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.629ms + 10.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.922ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191640 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191640 ms (missed cycles : 2).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.851ms + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.648ms + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806346 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806346 ms (missed cycles : 3).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.121ms + 12.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.661ms + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138550 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138550 ms (missed cycles : 2).[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.966ms + 14.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.654ms + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660297 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660297 ms (missed cycles : 2).[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.253ms + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810415 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810415 ms (missed cycles : 2).[0m ×2 + 15.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.850ms + 15.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.564ms + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064261 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064261 ms (missed cycles : 3).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.302ms + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.947ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016727 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016727 ms (missed cycles : 2).[0m ×2 + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.205ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.078ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045846 ms (missed cycles : 3). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045846 ms (missed cycles : 3).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.885ms + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.779ms + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163240 ms (missed cycles : 3). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163240 ms (missed cycles : 3).[0m ×2 + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.261ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.036ms + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026270 ms (missed cycles : 3). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026270 ms (missed cycles : 3).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.569ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.358ms + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520093 ms (missed cycles : 2). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520093 ms (missed cycles : 2).[0m ×2 + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.164ms + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440120 ms (missed cycles : 3). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440120 ms (missed cycles : 3).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.274ms + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.383ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849106 ms (missed cycles : 2). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849106 ms (missed cycles : 2).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.376ms + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.347ms + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746904 ms (missed cycles : 3). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746904 ms (missed cycles : 3).[0m ×2 + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.571ms + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.092ms + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862273 ms (missed cycles : 2). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862273 ms (missed cycles : 2).[0m ×2 + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.321ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.825ms + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338266 ms (missed cycles : 3). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338266 ms (missed cycles : 3).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.903ms + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902002 ms (missed cycles : 2). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902002 ms (missed cycles : 2).[0m ×2 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.704ms + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.799ms + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972046 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972046 ms (missed cycles : 2).[0m ×2 + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.317ms + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.894ms + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499335 ms (missed cycles : 3). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499335 ms (missed cycles : 3).[0m ×2 + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.179ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.904ms + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022088 ms (missed cycles : 2). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022088 ms (missed cycles : 2).[0m ×2 + 31.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.434ms + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.564ms + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537901 ms (missed cycles : 3). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537901 ms (missed cycles : 3).[0m ×2 + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.182ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927970 ms (missed cycles : 2). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927970 ms (missed cycles : 2).[0m ×2 + 33.63sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299482 ms (missed cycles : 2). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299482 ms (missed cycles : 2).[0m ×2 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607860 ms (missed cycles : 3). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607860 ms (missed cycles : 3).[0m ×2 + 35.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.035ms + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459904 ms (missed cycles : 3). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459904 ms (missed cycles : 3).[0m ×2 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628282 ms (missed cycles : 2). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628282 ms (missed cycles : 2).[0m ×2 + 38.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.483ms + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756943 ms (missed cycles : 2). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756943 ms (missed cycles : 2).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233881 ms (missed cycles : 2). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233881 ms (missed cycles : 2).[0m ×2 + 40.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.235ms + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036412 ms (missed cycles : 2). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036412 ms (missed cycles : 2).[0m ×2 + 40.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.444ms + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011479 ms (missed cycles : 2). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011479 ms (missed cycles : 2).[0m ×2 + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898486 ms (missed cycles : 3). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898486 ms (missed cycles : 3).[0m ×2 + 43.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.226ms + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183542 ms (missed cycles : 2). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183542 ms (missed cycles : 2).[0m ×2 + 44.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.141ms + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036707 ms (missed cycles : 2). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036707 ms (missed cycles : 2).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848210 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848210 ms (missed cycles : 3).[0m ×2 + 46.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.132ms + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528801 ms (missed cycles : 2). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528801 ms (missed cycles : 2).[0m ×2 + 47.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.288ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633628 ms (missed cycles : 3). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633628 ms (missed cycles : 3).[0m ×2 + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741094 ms (missed cycles : 2). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741094 ms (missed cycles : 2).[0m ×2 + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037487 ms (missed cycles : 2). + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037487 ms (missed cycles : 2).[0m ×2 + 50.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.999ms + 50.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.453ms + 51.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087220 ms (missed cycles : 2). + 51.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087220 ms (missed cycles : 2).[0m ×2 + 52.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183035 ms (missed cycles : 2). + 52.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183035 ms (missed cycles : 2).[0m ×2 + 53.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557605 ms (missed cycles : 2). + 53.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557605 ms (missed cycles : 2).[0m ×2 + 53.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.755ms + 54.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669101 ms (missed cycles : 3). + 54.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669101 ms (missed cycles : 3).[0m ×2 + 54.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.387ms + 55.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020710 ms (missed cycles : 2). + 55.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020710 ms (missed cycles : 2).[0m ×2 + 56.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2). + 56.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2).[0m ×2 + 57.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3). + 57.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3).[0m ×2 + 57.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 58.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 58.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2). + 58.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2).[0m ×2 + 59.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573414.27863622 seconds ×3 + 59.16sINFOstate_estimatorReceived a set_pose request (stamp: 1791573414299149930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.33sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.33sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.55sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.360ms + 59.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570016, y=-0.0171773, yaw=-0.0183975 + 59.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.67sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 59.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573414.86704516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.389ms + 59.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2).[0m ×2 + 60.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 60.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 60.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2). + 60.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2).[0m ×2 + 61.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2). + 61.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2).[0m ×2 + 62.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2). + 62.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	49.2s	172 warnings · 243 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.925ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.905ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.83sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573451.95004845 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1791573451965964447, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2).[0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.670ms + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.76, 10.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 10.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 31.784ms + 3.44sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.44sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.44sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.44sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569057, y=-0.0171797, yaw=-0.0183999 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573452.53663087 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 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.672ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.03sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.03sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.03sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208734 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208734 ms (missed cycles : 2).[0m ×2 + 7.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.055ms + 8.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.383ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864326 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864326 ms (missed cycles : 3).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.213ms + 9.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.735ms + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834451 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834451 ms (missed cycles : 2).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.896ms + 10.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.191ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197549 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197549 ms (missed cycles : 2).[0m ×2 + 11.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.250ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484384 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484384 ms (missed cycles : 2).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.258ms + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.637ms + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265553 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265553 ms (missed cycles : 2).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.069ms + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.269ms + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673306 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673306 ms (missed cycles : 2).[0m ×2 + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.855ms + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.626ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634994 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634994 ms (missed cycles : 2).[0m ×2 + 15.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.142ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.056ms + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038777 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038777 ms (missed cycles : 2).[0m ×2 + 16.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.741ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.233ms + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248661 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248661 ms (missed cycles : 2).[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.215ms + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692186 ms (missed cycles : 2). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692186 ms (missed cycles : 2).[0m ×2 + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.075ms + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.410ms + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052330 ms (missed cycles : 2). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052330 ms (missed cycles : 2).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.668ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.778ms + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464274 ms (missed cycles : 4). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464274 ms (missed cycles : 4).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.892ms + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.782ms + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343831 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343831 ms (missed cycles : 2).[0m ×2 + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.377ms + 22.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.246ms + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977829 ms (missed cycles : 2). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977829 ms (missed cycles : 2).[0m ×2 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.238ms + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296244 ms (missed cycles : 2). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296244 ms (missed cycles : 2).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.088ms + 23.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.419ms + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544627 ms (missed cycles : 2). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544627 ms (missed cycles : 2).[0m ×2 + 24.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.384ms + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.767ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149971 ms (missed cycles : 2). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149971 ms (missed cycles : 2).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.062ms + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.758ms + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020623 ms (missed cycles : 2). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020623 ms (missed cycles : 2).[0m ×2 + 26.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.904ms + 27.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.872ms + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011828 ms (missed cycles : 3). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011828 ms (missed cycles : 3).[0m ×2 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.137ms + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.809ms + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677999 ms (missed cycles : 2). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677999 ms (missed cycles : 2).[0m ×2 + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.991ms + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856121 ms (missed cycles : 3). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856121 ms (missed cycles : 3).[0m ×2 + 29.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.800ms + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031869 ms (missed cycles : 2). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031869 ms (missed cycles : 2).[0m ×2 + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.440ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.862ms + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472527 ms (missed cycles : 2). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472527 ms (missed cycles : 2).[0m ×2 + 31.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.650ms + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.969ms + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874277 ms (missed cycles : 2). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874277 ms (missed cycles : 2).[0m ×2 + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143965 ms (missed cycles : 2). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143965 ms (missed cycles : 2).[0m ×2 + 34.98sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719194 ms (missed cycles : 3). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719194 ms (missed cycles : 3).[0m ×2 + 35.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 35.63sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403182 ms (missed cycles : 3). + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403182 ms (missed cycles : 3).[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700759 ms (missed cycles : 2). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700759 ms (missed cycles : 2).[0m ×2 + 37.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.176ms + 38.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.108ms + 38.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468117 ms (missed cycles : 3). + 38.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468117 ms (missed cycles : 3).[0m ×2 + 38.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.233ms + 39.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.094ms + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833274 ms (missed cycles : 2). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833274 ms (missed cycles : 2).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.863ms + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235044 ms (missed cycles : 2). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235044 ms (missed cycles : 2).[0m ×2 + 40.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.473ms + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914427 ms (missed cycles : 3). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914427 ms (missed cycles : 3).[0m ×2 + 41.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.786ms + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099098 ms (missed cycles : 2). + 42.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099098 ms (missed cycles : 2).[0m ×2 + 43.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.409ms + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877532 ms (missed cycles : 2). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877532 ms (missed cycles : 2).[0m ×2 + 43.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.310ms + 44.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.628ms + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343420 ms (missed cycles : 3). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343420 ms (missed cycles : 3).[0m ×2 + 44.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.737ms + 44.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.830ms + 45.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.401ms + 45.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.090ms + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499599 ms (missed cycles : 3). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499599 ms (missed cycles : 3).[0m ×2 + 45.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.894ms + 46.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.549ms + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.077ms + 46.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668806 ms (missed cycles : 2). + 46.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668806 ms (missed cycles : 2).[0m ×2 + 46.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.144ms + 47.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.217ms + 47.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516609 ms (missed cycles : 3). + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516609 ms (missed cycles : 3).[0m ×2 + 48.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672731 ms (missed cycles : 2). + 48.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672731 ms (missed cycles : 2).[0m ×2 + 49.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.679ms + 49.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354603 ms (missed cycles : 2). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354603 ms (missed cycles : 2).[0m ×2 + 50.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.652ms + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180691 ms (missed cycles : 2). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180691 ms (missed cycles : 2).[0m ×2 + 51.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.112ms + 51.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260567 ms (missed cycles : 2). + 51.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260567 ms (missed cycles : 2).[0m ×2 + 52.07sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791573501.15815473 seconds ×3 + 52.10sINFOstate_estimatorReceived a set_pose request (stamp: 1791573501177414429, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 52.20sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.51) is out of map bounds (-4.40, 6.45) to (0.58, 11.43). The costmap cannot raytrace for it. + 52.20sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.04) is out of map bounds (-4.40, 6.45) to (0.58, 11.43). The costmap cannot raytrace for it. + 52.30sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 52.30sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 52.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.493ms + 52.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 52.61sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 52.66sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791573501.74733019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 52.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063973 ms (missed cycles : 2). + 52.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063973 ms (missed cycles : 2).[0m ×2 + 52.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 53.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759568 ms (missed cycles : 3). + 53.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759568 ms (missed cycles : 3).[0m ×2 + 54.34sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567045, y=-0.0171515, yaw=-0.0183797 + 54.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.202ms + 55.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309585 ms (missed cycles : 2). + 55.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309585 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	141 warnings · 430 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 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.07sINFOobjective_server_nodecaller: ×12 + 1.07sINFOobjective_server_nodetype: 0 ×12 + 1.07sINFOobjective_server_nodename: "" ×12 + 1.07sINFOobjective_server_nodeinstance_id: "" ×12 + 1.07sINFOobjective_server_node ×12 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.11sINFOmove_groupClearing octomap...[0m ×4 + 1.11sINFOmove_groupOctomap cleared.[0m ×4 + 1.11sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.11sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 1.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_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 + 3.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2 + 7.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.534ms + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133293 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133293 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456787 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456787 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072817 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072817 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902196 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902196 ms (missed cycles : 2).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197008 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197008 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029522 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029522 ms (missed cycles : 2).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130098 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130098 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544539 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544539 ms (missed cycles : 2).[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814567 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814567 ms (missed cycles : 2).[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.209140 ms (missed cycles : 6). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.209140 ms (missed cycles : 6).[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118047 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118047 ms (missed cycles : 2).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056672 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056672 ms (missed cycles : 2).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.191ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757215 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757215 ms (missed cycles : 2).[0m ×2 + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331341 ms (missed cycles : 2). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331341 ms (missed cycles : 2).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109749 ms (missed cycles : 2). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109749 ms (missed cycles : 2).[0m ×2 + 23.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092802 ms (missed cycles : 2). + 23.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092802 ms (missed cycles : 2).[0m ×2 + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849194 ms (missed cycles : 2). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849194 ms (missed cycles : 2).[0m ×2 + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398266 ms (missed cycles : 3). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398266 ms (missed cycles : 3).[0m ×2 + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492197 ms (missed cycles : 2). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492197 ms (missed cycles : 2).[0m ×2 + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132347 ms (missed cycles : 2). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132347 ms (missed cycles : 2).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276196 ms (missed cycles : 2). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276196 ms (missed cycles : 2).[0m ×2 + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206986 ms (missed cycles : 2). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206986 ms (missed cycles : 2).[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547821 ms (missed cycles : 2). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547821 ms (missed cycles : 2).[0m ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703301 ms (missed cycles : 2). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703301 ms (missed cycles : 2).[0m ×2 + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718870 ms (missed cycles : 2). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718870 ms (missed cycles : 2).[0m ×2 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756920 ms (missed cycles : 2). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756920 ms (missed cycles : 2).[0m ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055167 ms (missed cycles : 2). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055167 ms (missed cycles : 2).[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725395 ms (missed cycles : 2). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725395 ms (missed cycles : 2).[0m ×2 + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.794ms + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572733 ms (missed cycles : 2). + 37.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572733 ms (missed cycles : 2).[0m ×2 + 38.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723613 ms (missed cycles : 3). + 38.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723613 ms (missed cycles : 3).[0m ×2 + 39.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743984 ms (missed cycles : 2). + 39.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743984 ms (missed cycles : 2).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066869 ms (missed cycles : 2). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066869 ms (missed cycles : 2).[0m ×2 + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910896 ms (missed cycles : 2). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910896 ms (missed cycles : 2).[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207535 ms (missed cycles : 2). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207535 ms (missed cycles : 2).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998881 ms (missed cycles : 2). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998881 ms (missed cycles : 2).[0m ×2 + 45.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843842 ms (missed cycles : 2). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843842 ms (missed cycles : 2).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866634 ms (missed cycles : 2). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866634 ms (missed cycles : 2).[0m ×2 + 46.59sINFOjoint_trajectory_controllerGoal reached, success! + 46.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791573352.39873052 seconds ×3 + 46.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.65sINFOstate_estimatorReceived a set_pose request (stamp: 1791573352418878613, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.071ms + 47.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.17sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950631 ms (missed cycles : 2). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950631 ms (missed cycles : 2).[0m ×2 + 47.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791573352.97212958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.99sINFOobjective_server_nodeFound path in 0 iterations (2.269e-05 s). ×2 + 48.03sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120868 ms (missed cycles : 2). + 48.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120868 ms (missed cycles : 2).[0m ×2 + 48.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 4.0 deg) + 48.79sINFOamclInitializing particles from estimated pose and covariance + 48.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 4.0 deg)[0m ×2 + 48.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0166451, y=-0.0428131, yaw=0.0702494 + 48.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.354ms + 49.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.858ms + 49.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571339 ms (missed cycles : 3). + 49.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571339 ms (missed cycles : 3).[0m ×2 + 49.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.000ms + 49.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.055ms + 49.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.204ms + 50.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.934ms + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2). + 50.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2).[0m ×2 + 50.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.810ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.5s	115 warnings · 194 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098239 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098239 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341854 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341854 ms (missed cycles : 2).[0m ×2 + 1.24sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.24sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.29sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791573420.41718626 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077847 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077847 ms (missed cycles : 2).[0m ×2 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791573421.98989677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823355 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823355 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608621 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608621 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200118 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200118 ms (missed cycles : 2).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.861ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448309 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448309 ms (missed cycles : 3).[0m ×2 + 7.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.641ms + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778237 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778237 ms (missed cycles : 2).[0m ×2 + 7.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.125ms + 8.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.828ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841078 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841078 ms (missed cycles : 2).[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.076ms + 9.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.111ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402855 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402855 ms (missed cycles : 2).[0m ×2 + 9.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.936ms + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.662ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354870 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354870 ms (missed cycles : 2).[0m ×2 + 10.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.954ms + 11.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.870ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687383 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687383 ms (missed cycles : 3).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.988ms + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.184ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254735 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254735 ms (missed cycles : 2).[0m ×2 + 13.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.418ms + 13.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.570ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013219 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013219 ms (missed cycles : 2).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.635ms + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673408 ms (missed cycles : 3). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673408 ms (missed cycles : 3).[0m ×2 + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.669ms + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.813ms + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806647 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806647 ms (missed cycles : 2).[0m ×2 + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.011ms + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.110ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907114 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907114 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.809ms + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.883ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008124 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008124 ms (missed cycles : 2).[0m ×2 + 18.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.379ms + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968181 ms (missed cycles : 3). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968181 ms (missed cycles : 3).[0m ×2 + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.972ms + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.778ms + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677155 ms (missed cycles : 2). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677155 ms (missed cycles : 2).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.604ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.069ms + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369426 ms (missed cycles : 2). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369426 ms (missed cycles : 2).[0m ×2 + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.387ms + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.311ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681188 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681188 ms (missed cycles : 2).[0m ×2 + 22.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.641ms + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.080ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791328 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791328 ms (missed cycles : 2).[0m ×2 + 23.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.977ms + 24.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301267 ms (missed cycles : 2). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301267 ms (missed cycles : 2).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.577ms + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227538 ms (missed cycles : 2). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227538 ms (missed cycles : 2).[0m ×2 + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.624ms + 25.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.989ms + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.329ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115889 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115889 ms (missed cycles : 2).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.917ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154416 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154416 ms (missed cycles : 2).[0m ×2 + 27.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.408ms + 28.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.958ms + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254251 ms (missed cycles : 2). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254251 ms (missed cycles : 2).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.324ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.008ms + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738694 ms (missed cycles : 3). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738694 ms (missed cycles : 3).[0m ×2 + 29.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.925ms + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3).[0m ×2 + 31.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.905ms + 32.82sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573451.95004845 seconds ×3 + 32.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573451965964447, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 32.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2).[0m ×2 + 32.95sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 32.95sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 33.05sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 33.05sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 33.11sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.670ms + 33.15sWARNlocal_costmap.local_costmapSensor origin at (-2.76, 10.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 33.15sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 10.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 33.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 33.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 33.40sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 31.784ms + 33.40sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 33.40sINFOamclInitializing particles from estimated pose and covariance + 33.40sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 33.40sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569057, y=-0.0171797, yaw=-0.0183999 + 33.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573452.53663087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.672ms + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2).[0m ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2).[0m ×2 + 36.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3). + 36.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	14.7s	69 warnings · 257 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087228 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087228 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305296 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305296 ms (missed cycles : 2).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.363ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255157 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255157 ms (missed cycles : 2).[0m ×2 + 2.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.022ms + 2.93sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791573637.17359209 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOstate_estimatorReceived a set_pose request (stamp: 1791573637188431122, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358943 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358943 ms (missed cycles : 3).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) 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: 5000 particles 811 points - 7.132ms + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.48sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.52sINFOobjective_server_nodecaller: ×6 + 3.52sINFOobjective_server_nodetype: 0 ×6 + 3.52sINFOobjective_server_nodename: "" ×6 + 3.52sINFOobjective_server_nodeinstance_id: "" ×6 + 3.52sINFOobjective_server_node ×6 + 3.56sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791573637.74983811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.128ms + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697732 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697732 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682779 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682779 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381241 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381241 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174584 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174584 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062953 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062953 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937026 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937026 ms (missed cycles : 2).[0m ×2 + 9.64sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.75sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.79sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 9.86sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.90sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 10.10sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.14sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 10.38sINFOobjective_server_nodeFound path in 33 iterations (0.021523 s). ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103611 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103611 ms (missed cycles : 2).[0m ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004502 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004502 ms (missed cycles : 2).[0m ×2 + 11.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 11.73sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147755 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147755 ms (missed cycles : 2).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043377 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043377 ms (missed cycles : 2).[0m ×2 + 13.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.093ms + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.065ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936349 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936349 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.117ms + 15.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.991ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079503 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079503 ms (missed cycles : 2).[0m ×2 + 16.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.358ms + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606106 ms (missed cycles : 3). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606106 ms (missed cycles : 3).[0m ×2 + 17.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791573651.91260982 seconds ×3 + 17.74sINFOstate_estimatorReceived a set_pose request (stamp: 1791573651926013723, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 18.06sINFOamclParticle filter update iteration stats: 1406 particles 811 points - 4.620ms + 18.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 18.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573652.51043034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.32sINFOmove_groupClearing octomap...[0m ×2 + 18.32sINFOmove_groupOctomap cleared.[0m ×2 + 18.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 18.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332571 ms (missed cycles : 2). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332571 ms (missed cycles : 2).[0m ×2 + 18.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573653.12122226 seconds ×3 + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251918 ms (missed cycles : 2). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251918 ms (missed cycles : 2).[0m ×2 + 19.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.47sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 19.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573653.68479109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.95sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567818, y=-0.0171829, yaw=-0.0184037 + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.853ms + 20.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573654.21494913 seconds ×3 + 20.26sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659802 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659802 ms (missed cycles : 2).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847303 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847303 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.9s	112 errors · 30 warnings · 547 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079503 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079503 ms (missed cycles : 2).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.358ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606106 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606106 ms (missed cycles : 3).[0m ×2 + 1.66sINFOjoint_trajectory_controllerGoal reached, success! + 1.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791573651.91260982 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.70sINFOstate_estimatorReceived a set_pose request (stamp: 1791573651926013723, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.02sINFOamclParticle filter update iteration stats: 1406 particles 811 points - 4.620ms + 2.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.21sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.21sINFOobjective_server_nodecaller: ×4 + 2.21sINFOobjective_server_nodetype: 0 ×4 + 2.21sINFOobjective_server_nodename: "" ×4 + 2.21sINFOobjective_server_nodeinstance_id: "" ×4 + 2.21sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573652.51043034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.28sINFOmove_groupClearing octomap...[0m ×2 + 2.28sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.32sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332571 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332571 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573653.12122226 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251918 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251918 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573653.68479109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.91sINFOamclInitializing particles from estimated pose and covariance + 3.91sINFOodom_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=-0.0567818, y=-0.0171829, yaw=-0.0184037 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.853ms + 3.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573654.21494913 seconds ×3 + 4.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659802 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659802 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847303 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847303 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099741 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099741 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289044 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289044 ms (missed cycles : 2).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106350 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106350 ms (missed cycles : 2).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808744 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808744 ms (missed cycles : 2).[0m ×2 + 10.41sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.44sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORweb_video_auth_proxy-41process has died [pid 7990, 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 + 10.44sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.45sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORweb_bridge_auth_proxy-40process has died [pid 7967, 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 + 10.45sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.46sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.47sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.48sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.49sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.50sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.51sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.52sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.53sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.53sINFOvideo_server-39process has finished cleanly [pid 7966] ×2 + 10.54sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.55sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.56sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.57sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.58sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.59sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.61sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.61sINFOcontroller_managerShutdown request received.... + 10.61sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.61sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.61sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.61sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.61sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.61sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.61sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.61sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.61sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.61sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.61sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.61sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.61sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.61sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.61sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.61sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.61sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.61sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.61sINFOcontroller_managerShutting down the controller manager. + 10.62sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.63sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.64sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.65sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.65sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.66sERRORmove_group-25process has died [pid 7925, 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_37y5eg6i --params-file /tmp/launch_params_ma23rcbb --params-file /tmp/launch_params_sojvt2n6 --params-file /tmp/launch_params_7p6nlpll --params-file /tmp/launch_params_jec3vvjs --params-file /tmp/launch_params_x3r9zy5f']. ×2 + 10.66sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.67sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.68sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.69sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.69sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.70sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.71sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.71sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.71sINFOmap_serverDeactivating + 10.71sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.72sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.72sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.72sINFOcontroller_serverDeactivating + 10.72sINFOlocal_costmap.local_costmapDeactivating + 10.72sINFOvideo_server2026/10/09 19:21:00 INF shutting down gracefully ×2 + 10.72sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOvideo_server2026/10/09 19:21:00 INF [WebRTC] closing ×2 + 10.72sINFOvideo_server2026/10/09 19:21:00 INF [RTSP] closing ×2 + 10.72sINFOvideo_server2026/10/09 19:21:00 INF waiting for running hooks ×2 + 10.72sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.72sINFOmap_serverCleaning up + 10.72sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.72sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.72sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.72sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.72sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.72sERRORmove_groupStack trace (most recent call last) in thread 8595: ×2 + 10.72sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.72sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.72sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.72sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febc04e6cc3, in __clone ×2 + 10.72sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febc0459b83, in ×2 + 10.72sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.72sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.72sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.72sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.72sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.72sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.72sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 10.73sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febc06ecdb3, in ×2 + 10.73sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7febc0e52e64, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.73sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febc0a7e620, in rclcpp::Rate::sleep() ×2 + 10.73sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febc09c0d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.73sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febc0982087, in ×2 + 10.73sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febc06bb390, in __cxa_throw ×2 + 10.73sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febc06a5a54, in std::terminate() ×2 + 10.73sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febc06bb0d9, in ×2 + 10.73sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febc06a5ff4, in ×2 + 10.73sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febc03e58fe, in abort ×2 + 10.73sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febc040227d, in raise ×2 + 10.73sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febc045bc0c, in pthread_kill ×2 + 10.73sERRORmove_groupAborted (Signal sent by tkill() 7925 0) ×2 + 10.73sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.73sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.73sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.73sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.73sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.74sERRORamclThe bond connection to the lifecycle manager has been broken + 10.75sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.76sINFOcontroller_serverCleaning up + 10.76sINFOlocal_costmap.local_costmapCleaning up + 10.80sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.80sINFOsmoother_serverDeactivating + 10.80sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.81sINFOsmoother_serverCleaning up + 10.81sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.81sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.81sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.81sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.81sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.81sINFOvelocity_smootherDeactivating + 10.81sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.82sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.82sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 10.83sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.83sINFOplanner_serverDeactivating + 10.83sINFOglobal_costmap.global_costmapDeactivating + 10.97sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.98sINFOwaypoint_followerDeactivating + 10.98sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.09sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.09sINFObt_navigatorDeactivating + 11.09sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.20sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.20sINFObehavior_serverDeactivating + 11.20sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.31sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.32sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.32sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.32sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.32sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.32sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.32sINFOvelocity_smootherCleaning up + 11.32sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.32sINFOwaypoint_followerCleaning up + 11.35sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.35sINFObt_navigatorCleaning up + 11.37sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.37sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.38sINFOplanner_serverCleaning up + 11.40sINFOglobal_costmap.global_costmapCleaning up + 11.41sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.41sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.44sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.44sINFObehavior_serverCleaning up + 11.45sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.45sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.45sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.45sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.52sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.53sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.53sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.53sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.53sINFOtf_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 + 11.53sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.53sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.53sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.53sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.53sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.53sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.53sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.53sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.53sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.53sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.53sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.53sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.53sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.53sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.53sINFOtf2_web_republisher_node-38process has finished cleanly [pid 7965] ×2 + 11.53sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.53sINFObt_navigatorCompleted Cleaning up + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.57sINFOjoint_state_visualization_relay-37process has finished cleanly [pid 7964] ×2 + 11.57sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.58sERRORtf_visualization_relay-36process has died [pid 7963, 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_w8jrqow_']. ×2 + 11.58sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.59sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.59sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.59sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.59sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.59sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.59sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.59sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.61sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 7934] ×2 + 11.62sINFOui_teleop_bridge-34process has finished cleanly [pid 7956] ×2 + 11.62sINFOmove_joint_resampler_node-28process has finished cleanly [pid 7930] ×2 + 11.63sINFOexecute_objective_bridge-33process has finished cleanly [pid 7955] ×2 + 11.66sINFOparameter_manager_node-26process has finished cleanly [pid 7928] ×2 + 11.68sINFOwaypoint_manager_node-27process has finished cleanly [pid 7929] ×2 + 11.68sINFOrelay-11process has finished cleanly [pid 7865] ×2 + 11.69sINFOrelay-10process has finished cleanly [pid 7864] ×2 + 11.70sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7760] ×2 + 11.71sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 7866] ×2 + 11.71sINFOcomponent_container_mt-32process has finished cleanly [pid 7944] ×2 + 11.71sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7759] ×2 + 11.71sINFOstatic_transform_publisher-7process has finished cleanly [pid 7758] ×2 + 11.72sINFOstatic_transform_publisher-6process has finished cleanly [pid 7757] ×2 + 11.72sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.72sINFOlidar_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 + 11.73sINFOlidar_flattener.pymain() ×2 + 11.73sINFOlidar_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 + 11.73sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.73sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.73sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.73sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.73sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.73sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.73sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.73sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.73sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.73sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.73sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.73sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.74sINFOobjective_server_node[2026-10-09 19:21:01.970] [moveit_pro_license] [critical] ×2 + 11.74sINFOobjective_server_node************************************************* ×4 + 11.74sINFOobjective_server_node* MoveIt Pro License ×2 + 11.74sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.74sINFOstatic_transform_publisher-3process has finished cleanly [pid 7754] ×2 + 11.76sERRORlidar_flattener.py-5process has died [pid 7756, 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_35cgiqzs']. ×2 + 11.82sINFOobjective_server_node_main-30process has finished cleanly [pid 7941] ×2 + 11.82sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 11.86sERRORcomponent_container_isolated-1process has died [pid 7752, 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_gni2ifka --params-file /tmp/launch_params_yi40ffb_ -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.07sERRORcomponent_container_isolated-2process has died [pid 7753, 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_gni2ifka --params-file /tmp/launch_params_51k0dppc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.73sINFOodom_world_drift-4process has finished cleanly [pid 7755] ×2 + 12.75sINFOcomponent_container_mt-31process has finished cleanly [pid 7942] ×2 + 13.37sINFOros2_control_node-13process has finished cleanly [pid 7867] ×2 + 13.71sINFOweb_bridge-35process has finished cleanly [pid 7958] ×2 + 13.71sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.6s	3 errors · 60 warnings · 171 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354603 ms (missed cycles : 2).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.652ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180691 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180691 ms (missed cycles : 2).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.112ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260567 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260567 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791573501.15815473 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.33sINFOstate_estimatorReceived a set_pose request (stamp: 1791573501177414429, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.42sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.51) is out of map bounds (-4.40, 6.45) to (0.58, 11.43). The costmap cannot raytrace for it. + 2.43sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.04) is out of map bounds (-4.40, 6.45) to (0.58, 11.43). The costmap cannot raytrace for it. + 2.52sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.51) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.53sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.67sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.493ms + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791573501.74733019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063973 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063973 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759568 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759568 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.53sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.56sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567045, y=-0.0171515, yaw=-0.0183797 + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.202ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309585 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309585 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886070 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886070 ms (missed cycles : 2).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.023ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697492 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697492 ms (missed cycles : 2).[0m ×2 + 7.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.054ms + 8.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.010ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662895 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662895 ms (missed cycles : 2).[0m ×2 + 8.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.224ms + 9.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.960ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296777 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296777 ms (missed cycles : 2).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.027ms + 10.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.618ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527391 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527391 ms (missed cycles : 2).[0m ×2 + 10.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.032ms + 11.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.762ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959094 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959094 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.184ms + 12.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.897ms + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036284 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036284 ms (missed cycles : 3).[0m ×2 + 12.92sINFOobjective_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 + 12.93sINFOjoint_trajectory_controllerGot request to cancel goal + 12.93sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 12.93sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 12.93sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 12.94sERRORobjective_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: 1791573511.79470420 seconds ×3 + 12.96sINFOstate_estimatorReceived a set_pose request (stamp: 1791573511810860267, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.12sWARNlocal_costmap.local_costmapSensor origin at (-0.68, 3.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.13sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 3.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.076ms + 13.22sWARNlocal_costmap.local_costmapSensor origin at (-0.73, 3.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.23sWARNlocal_costmap.local_costmapSensor origin at (-1.63, 3.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.40sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.516ms + 13.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569632, y=-0.0171782, yaw=-0.0183983 + 13.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791573512.37485290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.828ms + 13.81sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796214 ms (missed cycles : 2).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281508 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281508 ms (missed cycles : 2).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810932 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810932 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.1s	45 warnings · 150 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.49sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573414.27863622 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1791573414299149930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.360ms + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.94sINFOamclInitializing particles from estimated pose and covariance + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570016, y=-0.0171773, yaw=-0.0183975 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573414.86704516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.389ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098239 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098239 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341854 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341854 ms (missed cycles : 2).[0m ×2 + 8.65sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791573420.41718626 seconds ×3 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077847 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077847 ms (missed cycles : 2).[0m ×2 + 10.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.19sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.23sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791573421.98989677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.51sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823355 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823355 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608621 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608621 ms (missed cycles : 2).[0m ×2 + 11.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.71sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200118 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200118 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	50 warnings · 148 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793004 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793004 ms (missed cycles : 2).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.012ms + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.667ms + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.140ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246554 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246554 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.836ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.013ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451694 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451694 ms (missed cycles : 2).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.159ms + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.92sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791573574.70504570 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOstate_estimatorReceived a set_pose request (stamp: 1791573574720877690, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.96sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618386 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618386 ms (missed cycles : 3).[0m ×2 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.495ms + 3.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.42sINFOamclInitializing particles from estimated pose and covariance + 3.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.42sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791573575.27749038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.404ms + 3.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394343 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394343 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023965 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 9.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 9.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.13sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 11.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	5.8s	36 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998881 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998881 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843842 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843842 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866634 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866634 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791573352.39873052 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791573352418878613, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.071ms + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950631 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950631 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791573352.97212958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.269e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120868 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120868 ms (missed cycles : 2).[0m ×2 + 4.75sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 4.0 deg) + 4.75sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.75sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 4.0 deg)[0m ×2 + 4.75sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0166451, y=-0.0428131, yaw=0.0702494 + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.354ms + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.858ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571339 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571339 ms (missed cycles : 3).[0m ×2 + 5.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.000ms + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.055ms + 5.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.204ms + 6.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.934ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.810ms + 6.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.644ms + 6.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.378ms + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.370ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441323 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441323 ms (missed cycles : 3).[0m ×2 + 7.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.415ms + 7.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.344ms + 7.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457761 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457761 ms (missed cycles : 2).[0m ×2 + 8.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791573358.18228483 seconds ×3 + 8.39sINFOstate_estimatorReceived a set_pose request (stamp: 1791573358195974790, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 8.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.498ms + 8.72sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 4.949ms + 8.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.91sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791573358.75842667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986082 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986082 ms (missed cycles : 2).[0m ×2 + 10.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 10.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 10.51sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 10.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 10.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.310ms + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203026 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203026 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862977 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862977 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	24 warnings · 126 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936349 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.117ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.991ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079503 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079503 ms (missed cycles : 2).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.358ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606106 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606106 ms (missed cycles : 3).[0m ×2 + 2.77sINFOjoint_trajectory_controllerGoal reached, success! + 2.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791573651.91260982 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1791573651926013723, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sINFOamclParticle filter update iteration stats: 1406 particles 811 points - 4.620ms + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573652.51043034 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 + 3.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332571 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332571 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573653.12122226 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251918 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251918 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573653.68479109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.02sINFOamclInitializing particles from estimated pose and covariance + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567818, y=-0.0171829, yaw=-0.0184037 + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.853ms + 5.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573654.21494913 seconds ×3 + 5.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659802 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659802 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847303 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847303 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099741 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099741 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.60sINFOobjective_server_nodecaller: ×10 + 2.60sINFOobjective_server_nodetype: 0 ×10 + 2.60sINFOobjective_server_nodename: "" ×10 + 2.60sINFOobjective_server_nodeinstance_id: "" ×10 + 2.60sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_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 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.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 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.07sINFOobjective_server_nodecaller: ×10 + 1.07sINFOobjective_server_nodetype: 0 ×10 + 1.07sINFOobjective_server_nodename: "" ×10 + 1.07sINFOobjective_server_nodeinstance_id: "" ×10 + 1.07sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.11sINFOmove_groupClearing octomap...[0m ×4 + 1.11sINFOmove_groupOctomap cleared.[0m ×4 + 1.11sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.11sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 1.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_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 + 3.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998881 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998881 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843842 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843842 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866634 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866634 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791573352.39873052 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791573352418878613, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.071ms + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950631 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950631 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791573352.97212958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.269e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120868 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120868 ms (missed cycles : 2).[0m ×2 + 4.75sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 4.0 deg) + 4.75sINFOamclInitializing particles from estimated pose and covariance + 4.75sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 4.0 deg)[0m ×2 + 4.75sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0166451, y=-0.0428131, yaw=0.0702494 + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.354ms + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.858ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571339 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571339 ms (missed cycles : 3).[0m ×2 + 5.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.000ms + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.055ms + 5.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.204ms + 6.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.934ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.810ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998881 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998881 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843842 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843842 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866634 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866634 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791573352.39873052 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791573352418878613, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.071ms + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950631 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950631 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791573352.97212958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.269e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120868 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120868 ms (missed cycles : 2).[0m ×2 + 4.75sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 4.0 deg) + 4.75sINFOamclInitializing particles from estimated pose and covariance + 4.75sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 4.0 deg)[0m ×2 + 4.75sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0166451, y=-0.0428131, yaw=0.0702494 + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.354ms + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.858ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571339 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571339 ms (missed cycles : 3).[0m ×2 + 5.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.000ms + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.055ms + 5.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.204ms + 6.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.934ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.810ms
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.60sINFOobjective_server_nodecaller: ×10 + 2.60sINFOobjective_server_nodetype: 0 ×10 + 2.60sINFOobjective_server_nodename: "" ×10 + 2.60sINFOobjective_server_nodeinstance_id: "" ×10 + 2.60sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_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 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 89 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.000ms + 0.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.055ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.204ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.934ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241282 ms (missed cycles : 2).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.810ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.644ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.378ms + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.370ms + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441323 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441323 ms (missed cycles : 3).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.415ms + 2.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.344ms + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457761 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457761 ms (missed cycles : 2).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791573358.18228483 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOstate_estimatorReceived a set_pose request (stamp: 1791573358195974790, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.498ms + 3.38sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 4.949ms + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791573358.75842667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986082 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986082 ms (missed cycles : 2).[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 5.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.22sINFOjoint_trajectory_controllerReceived new action goal + 5.22sINFOjoint_trajectory_controllerAccepted new action goal + 5.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.310ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203026 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203026 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862977 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862977 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	27 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573414.27863622 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1791573414299149930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.360ms + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.94sINFOamclInitializing particles from estimated pose and covariance + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570016, y=-0.0171773, yaw=-0.0183975 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.06sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.06sINFOobjective_server_nodecaller: ×2 + 3.06sINFOobjective_server_nodetype: 0 ×2 + 3.06sINFOobjective_server_nodename: "" ×2 + 3.06sINFOobjective_server_nodeinstance_id: "" ×2 + 3.06sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573414.86704516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.389ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	27 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573414.27863622 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1791573414299149930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.360ms + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.94sINFOamclInitializing particles from estimated pose and covariance + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570016, y=-0.0171773, yaw=-0.0183975 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.06sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.06sINFOobjective_server_nodecaller: ×2 + 3.06sINFOobjective_server_nodetype: 0 ×2 + 3.06sINFOobjective_server_nodename: "" ×2 + 3.06sINFOobjective_server_nodeinstance_id: "" ×2 + 3.06sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573414.86704516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.389ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	27 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573414.27863622 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1791573414299149930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.360ms + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.94sINFOamclInitializing particles from estimated pose and covariance + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570016, y=-0.0171773, yaw=-0.0183975 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.06sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.06sINFOobjective_server_nodecaller: ×2 + 3.06sINFOobjective_server_nodetype: 0 ×2 + 3.06sINFOobjective_server_nodename: "" ×2 + 3.06sINFOobjective_server_nodeinstance_id: "" ×2 + 3.06sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573414.86704516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.389ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	27 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573414.27863622 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1791573414299149930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.360ms + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.94sINFOamclInitializing particles from estimated pose and covariance + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570016, y=-0.0171773, yaw=-0.0183975 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.06sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.06sINFOobjective_server_nodecaller: ×2 + 3.06sINFOobjective_server_nodetype: 0 ×2 + 3.06sINFOobjective_server_nodename: "" ×2 + 3.06sINFOobjective_server_nodeinstance_id: "" ×2 + 3.06sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573414.86704516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.389ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	27 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573414.27863622 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1791573414299149930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.360ms + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.94sINFOamclInitializing particles from estimated pose and covariance + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570016, y=-0.0171773, yaw=-0.0183975 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.06sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.06sINFOobjective_server_nodecaller: ×2 + 3.06sINFOobjective_server_nodetype: 0 ×2 + 3.06sINFOobjective_server_nodename: "" ×2 + 3.06sINFOobjective_server_nodeinstance_id: "" ×2 + 3.06sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573414.86704516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.389ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 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	27 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573414.27863622 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1791573414299149930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.360ms + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.94sINFOamclInitializing particles from estimated pose and covariance + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570016, y=-0.0171773, yaw=-0.0183975 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.06sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.06sINFOobjective_server_nodecaller: ×2 + 3.06sINFOobjective_server_nodetype: 0 ×2 + 3.06sINFOobjective_server_nodename: "" ×2 + 3.06sINFOobjective_server_nodeinstance_id: "" ×2 + 3.06sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573414.86704516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.389ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	27 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904784 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409201 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050281 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573414.27863622 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1791573414299149930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.360ms + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.94sINFOamclInitializing particles from estimated pose and covariance + 2.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570016, y=-0.0171773, yaw=-0.0183975 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.06sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.06sINFOobjective_server_nodecaller: ×2 + 3.06sINFOobjective_server_nodetype: 0 ×2 + 3.06sINFOobjective_server_nodename: "" ×2 + 3.06sINFOobjective_server_nodeinstance_id: "" ×2 + 3.06sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573414.86704516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.389ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172875 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844320 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904424 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921516 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	28 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.925ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.905ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573451.95004845 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1791573451965964447, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2).[0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.670ms + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.76, 10.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 10.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 31.784ms + 3.44sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.44sINFOamclInitializing particles from estimated pose and covariance + 3.44sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.44sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569057, y=-0.0171797, yaw=-0.0183999 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573452.53663087 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 ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.672ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	28 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.925ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.905ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573451.95004845 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1791573451965964447, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2).[0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.670ms + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.76, 10.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 10.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 31.784ms + 3.44sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.44sINFOamclInitializing particles from estimated pose and covariance + 3.44sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.44sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569057, y=-0.0171797, yaw=-0.0183999 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573452.53663087 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 ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.672ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	28 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125539 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.925ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593387 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.905ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573451.95004845 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1791573451965964447, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874441 ms (missed cycles : 2).[0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.670ms + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-2.76, 10.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 10.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 31.784ms + 3.44sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.44sINFOamclInitializing particles from estimated pose and covariance + 3.44sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.44sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569057, y=-0.0171797, yaw=-0.0183999 + 3.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573452.53663087 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 ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.672ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382405 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839692 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570582 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.60sINFOobjective_server_nodecaller: ×10 + 2.60sINFOobjective_server_nodetype: 0 ×10 + 2.60sINFOobjective_server_nodename: "" ×10 + 2.60sINFOobjective_server_nodeinstance_id: "" ×10 + 2.60sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_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 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725499 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886638 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487450 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573581.05763412 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227812 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573581.63343263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050825 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716051 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064230 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 126 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936349 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.117ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.991ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079503 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079503 ms (missed cycles : 2).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.358ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606106 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606106 ms (missed cycles : 3).[0m ×2 + 2.77sINFOjoint_trajectory_controllerGoal reached, success! + 2.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791573651.91260982 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1791573651926013723, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sINFOamclParticle filter update iteration stats: 1406 particles 811 points - 4.620ms + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573652.51043034 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 + 3.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332571 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332571 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573653.12122226 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251918 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251918 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573653.68479109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.02sINFOamclInitializing particles from estimated pose and covariance + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567818, y=-0.0171829, yaw=-0.0184037 + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.853ms + 5.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573654.21494913 seconds ×3 + 5.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659802 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659802 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847303 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847303 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 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	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 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 · 346 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.38sINFOobjective_server_nodecaller: ×10 + 2.38sINFOobjective_server_nodetype: 0 ×10 + 2.38sINFOobjective_server_nodename: "" ×10 + 2.38sINFOobjective_server_nodeinstance_id: "" ×10 + 2.38sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.41sINFOmove_groupClearing octomap...[0m ×4 + 2.41sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_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 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.60sINFOobjective_server_nodecaller: ×10 + 2.60sINFOobjective_server_nodetype: 0 ×10 + 2.60sINFOobjective_server_nodename: "" ×10 + 2.60sINFOobjective_server_nodeinstance_id: "" ×10 + 2.60sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_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 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ 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 1.935145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.60sINFOobjective_server_nodecaller: ×10 + 2.60sINFOobjective_server_nodetype: 0 ×10 + 2.60sINFOobjective_server_nodename: "" ×10 + 2.60sINFOobjective_server_nodeinstance_id: "" ×10 + 2.60sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_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 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2
− 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 1.935145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.60sINFOobjective_server_nodecaller: ×10 + 2.60sINFOobjective_server_nodetype: 0 ×10 + 2.60sINFOobjective_server_nodename: "" ×10 + 2.60sINFOobjective_server_nodeinstance_id: "" ×10 + 2.60sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_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 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.60sINFOobjective_server_nodecaller: ×10 + 2.60sINFOobjective_server_nodetype: 0 ×10 + 2.60sINFOobjective_server_nodename: "" ×10 + 2.60sINFOobjective_server_nodeinstance_id: "" ×10 + 2.60sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_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 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.60sINFOobjective_server_nodecaller: ×10 + 2.60sINFOobjective_server_nodetype: 0 ×10 + 2.60sINFOobjective_server_nodename: "" ×10 + 2.60sINFOobjective_server_nodeinstance_id: "" ×10 + 2.60sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_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 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935145 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.60sINFOobjective_server_nodecaller: ×10 + 2.60sINFOobjective_server_nodetype: 0 ×10 + 2.60sINFOobjective_server_nodename: "" ×10 + 2.60sINFOobjective_server_nodeinstance_id: "" ×10 + 2.60sINFOobjective_server_node ×10 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_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 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 346 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 1.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.38sINFOobjective_server_nodecaller: ×10 + 2.38sINFOobjective_server_nodetype: 0 ×10 + 2.38sINFOobjective_server_nodename: "" ×10 + 2.38sINFOobjective_server_nodeinstance_id: "" ×10 + 2.38sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.41sINFOmove_groupClearing octomap...[0m ×4 + 2.41sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_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 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 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	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 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	0.6s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 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	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 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	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209112 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755900 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.55sINFOobjective_server_nodecaller: ×10 + 1.55sINFOobjective_server_nodetype: 0 ×10 + 1.55sINFOobjective_server_nodename: "" ×10 + 1.55sINFOobjective_server_nodeinstance_id: "" ×10 + 1.55sINFOobjective_server_node ×10 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573306.87799048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.58sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573306.88823128 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573307.45514011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573307.46529174 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931621 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573308.02812219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573308.17861080 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573308.76382875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848855 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573308.81397629 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573309.38963747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352385 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281220 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539898 ms (missed cycles : 2).[0m ×2